diff --git a/resources/robots/armar6_complex.urdf b/resources/robots/armar6_complex.urdf
deleted file mode 100644
index aeedf5ae4..000000000
--- a/resources/robots/armar6_complex.urdf
+++ /dev/null
@@ -1,2587 +0,0 @@
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-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 1.00000"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-	</joint>
-	<joint name="jointfix_67_4" type="fixed">
-		<parent link="link0_4"/>
-		<child link="root~Dummy_Platform~X_Platform~Y_Platform~Yaw_Platform~Platform-colmodel"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_66_1" type="fixed">
-		<parent link="root~Dummy_Platform~X_Platform~Y_Platform~Yaw_Platform~Platform-colmodel"/>
-		<child link="Platform"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="TorsoJoint" type="prismatic">
-		<parent link="Platform"/>
-		<child link="link0_7"/>
-<limit effort="1000.0" lower="-0.50000" upper="0.50000" velocity="0.5"/>		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 1.19500"/>
-		<axis xyz="0.00000 0.00000 1.00000"/>
-	</joint>
-	<joint name="jointfix_65_7" type="fixed">
-		<parent link="link0_7"/>
-		<child link="TorsoJoint~TorsoJoint_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_64_6" type="fixed">
-		<parent link="TorsoJoint~TorsoJoint_body"/>
-		<child link="CenterArms"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 1.57080" xyz="0.00000 0.00000 0.10000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_27_8" type="fixed">
-		<parent link="CenterArms"/>
-		<child link="Node_ArmL_Cla"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.09000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="ArmL1_Cla1" type="revolute">
-		<parent link="Node_ArmL_Cla"/>
-		<child link="link0_11"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 1.00000"/>
-	</joint>
-	<joint name="jointfix_26_11" type="fixed">
-		<parent link="link0_11"/>
-		<child link="ArmL1_Cla1~ArmL1_Cla1_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="ArmL2_Sho1" type="continuous">
-		<parent link="ArmL1_Cla1~ArmL1_Cla1_body"/>
-		<child link="link0_13"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.28978 0.07765"/>
-		<axis xyz="0.00000 0.96593 0.25882"/>
-	</joint>
-	<joint name="jointfix_25_13" type="fixed">
-		<parent link="link0_13"/>
-		<child link="Node_ArmL_Sho~ArmL2_Sho1~ArmL2_Sho1_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="ArmL3_Sho2" type="revolute">
-		<parent link="Node_ArmL_Sho~ArmL2_Sho1~ArmL2_Sho1_body"/>
-		<child link="link0_15"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="-1.57080 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_24_15" type="fixed">
-		<parent link="link0_15"/>
-		<child link="Node_ArmL_Sho_B~ArmL3_Sho2~ArmL3_Sho2_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="ArmL4_Sho3" type="continuous">
-		<parent link="Node_ArmL_Sho_B~ArmL3_Sho2~ArmL3_Sho2_body"/>
-		<child link="link0_17"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 1.57080 1.57079" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 1.00000"/>
-	</joint>
-	<joint name="jointfix_23_17" type="fixed">
-		<parent link="link0_17"/>
-		<child link="ArmL4_Sho3~ArmL4_Sho3_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="ArmL5_Elb1" type="revolute">
-		<parent link="ArmL4_Sho3~ArmL4_Sho3_body"/>
-		<child link="link0_19"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.05500 0.40900"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_22_19" type="fixed">
-		<parent link="link0_19"/>
-		<child link="Node_ArmL_Elb~ArmL5_Elb1~ArmL5_Elb1_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="ArmL6_Elb2" type="continuous">
-		<parent link="Node_ArmL_Elb~ArmL5_Elb1~ArmL5_Elb1_body"/>
-		<child link="link0_21"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 1.00000"/>
-	</joint>
-	<joint name="jointfix_21_21" type="fixed">
-		<parent link="link0_21"/>
-		<child link="ArmL6_Elb2~ArmL6_Elb2_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="ArmL7_Wri1" type="revolute">
-		<parent link="ArmL6_Elb2~ArmL6_Elb2_body"/>
-		<child link="link0_23"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.36400"/>
-		<axis xyz="0.00000 -1.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_20_23" type="fixed">
-		<parent link="link0_23"/>
-		<child link="Node_ArmL_Wri~ArmL7_Wri1~ArmL7_Wri1_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="ArmL8_Wri2" type="revolute">
-		<parent link="Node_ArmL_Wri~ArmL7_Wri1~ArmL7_Wri1_body"/>
-		<child link="link0_25"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 1.57080" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 -1.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_19_25" type="fixed">
-		<parent link="link0_25"/>
-		<child link="ArmL8_Wri2~ArmL8_Wri2_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_18_24" type="fixed">
-		<parent link="ArmL8_Wri2~ArmL8_Wri2_body"/>
-		<child link="HandL_Base~Hand L Root"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -1.57080 4.71239" xyz="0.00000 0.00000 0.14000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_0_26" type="fixed">
-		<parent link="HandL_Base~Hand L Root"/>
-		<child link="Hand L Col"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_17_26" type="fixed">
-		<parent link="HandL_Base~Hand L Root"/>
-		<child link="Hand L Palm"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Index L 1 Joint" type="revolute">
-		<parent link="Hand L Palm"/>
-		<child link="link0_30"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="-1.57081 1.48348 -0.00001" xyz="0.14531 -0.00000 0.03922"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_3_30" type="fixed">
-		<parent link="link0_30"/>
-		<child link="Index L 1 Joint~Index L 1 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Index L 2 Joint" type="revolute">
-		<parent link="Index L 1 Joint~Index L 1 Body"/>
-		<child link="link0_32"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.05595 -0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_2_32" type="fixed">
-		<parent link="link0_32"/>
-		<child link="Index L 2 Joint~Index L 2 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Index L 3 Joint" type="revolute">
-		<parent link="Index L 2 Joint~Index L 2 Body"/>
-		<child link="link0_34"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.03197 -0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_1_34" type="fixed">
-		<parent link="link0_34"/>
-		<child link="Index L 3 Joint~Index L 3 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="LeftHandFingers" type="revolute">
-		<parent link="Hand L Palm"/>
-		<child link="link0_36"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="-1.57080 1.16969 0.00000" xyz="0.13032 0.00000 0.05530"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_4_36" type="fixed">
-		<parent link="link0_36"/>
-		<child link="LeftHandFingers"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="LeftHandThumb" type="revolute">
-		<parent link="Hand L Palm"/>
-		<child link="link0_38"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="2.91903 -1.18743 -2.93505" xyz="0.08111 -0.04691 -0.03950"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_5_38" type="fixed">
-		<parent link="link0_38"/>
-		<child link="LeftHandThumb"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Middle L 1 Joint" type="revolute">
-		<parent link="Hand L Palm"/>
-		<child link="link0_40"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 1.57080 -4.71239" xyz="0.15172 0.00000 0.00750"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_8_40" type="fixed">
-		<parent link="link0_40"/>
-		<child link="Middle L 1 Joint~Middle L 1 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Middle L 2 Joint" type="revolute">
-		<parent link="Middle L 1 Joint~Middle L 1 Body"/>
-		<child link="link0_42"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.06000 0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_7_42" type="fixed">
-		<parent link="link0_42"/>
-		<child link="Middle L 2 Joint~Middle L 2 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Middle L 3 Joint" type="revolute">
-		<parent link="Middle L 2 Joint~Middle L 2 Body"/>
-		<child link="link0_44"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.03900 0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_6_44" type="fixed">
-		<parent link="link0_44"/>
-		<child link="Middle L 3 Joint~Middle L 3 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Pinky L 1 Joint" type="revolute">
-		<parent link="Hand L Palm"/>
-		<child link="link0_46"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="1.57080 1.16969 3.14159" xyz="0.13032 -0.00000 -0.05530"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_11_46" type="fixed">
-		<parent link="link0_46"/>
-		<child link="Pinky L 1 Joint~Pinky L 1 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Pinky L 2 Joint" type="revolute">
-		<parent link="Pinky L 1 Joint~Pinky L 1 Body"/>
-		<child link="link0_48"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="-0.00000 -0.04610 0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_10_48" type="fixed">
-		<parent link="link0_48"/>
-		<child link="Pinky L 2 Joint~Pinky L 2 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Pinky L 3 Joint" type="revolute">
-		<parent link="Pinky L 2 Joint~Pinky L 2 Body"/>
-		<child link="link0_50"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="-0.00000 -0.02706 0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_9_50" type="fixed">
-		<parent link="link0_50"/>
-		<child link="Pinky L 3 Joint~Pinky L 3 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Ring L 1 Joint" type="revolute">
-		<parent link="Hand L Palm"/>
-		<child link="link0_52"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="1.57080 1.39616 3.14159" xyz="0.14652 0.00000 -0.02630"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_14_52" type="fixed">
-		<parent link="link0_52"/>
-		<child link="Ring L 1 Joint~Ring L 1 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Ring L 2 Joint" type="revolute">
-		<parent link="Ring L 1 Joint~Ring L 1 Body"/>
-		<child link="link0_54"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.05506 0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_13_54" type="fixed">
-		<parent link="link0_54"/>
-		<child link="Ring L 2 Joint~Ring L 2 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Ring L 3 Joint" type="revolute">
-		<parent link="Ring L 2 Joint~Ring L 2 Body"/>
-		<child link="link0_56"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.03704 0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_12_56" type="fixed">
-		<parent link="link0_56"/>
-		<child link="Ring L 3 Joint~Ring L 3 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Thumb L 1 Joint" type="revolute">
-		<parent link="Hand L Palm"/>
-		<child link="link0_58"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="-0.22370 -1.18631 0.20756" xyz="0.08111 -0.04691 0.03950"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_16_58" type="fixed">
-		<parent link="link0_58"/>
-		<child link="Thumb L 1 Joint~Thumb L 1 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Thumb L 2 Joint" type="revolute">
-		<parent link="Thumb L 1 Joint~Thumb L 1 Body"/>
-		<child link="link0_60"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00002 -0.04408 -0.00005"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_15_60" type="fixed">
-		<parent link="link0_60"/>
-		<child link="Thumb L 2 Joint~Thumb L 2 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_55_8" type="fixed">
-		<parent link="CenterArms"/>
-		<child link="Node_ArmR_Cla"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 -3.14159" xyz="0.00000 -0.09000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="ArmR1_Cla1" type="revolute">
-		<parent link="Node_ArmR_Cla"/>
-		<child link="link0_63"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 1.00000"/>
-	</joint>
-	<joint name="jointfix_54_63" type="fixed">
-		<parent link="link0_63"/>
-		<child link="ArmR1_Cla1~ArmR1_Cla1_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="ArmR2_Sho1" type="continuous">
-		<parent link="ArmR1_Cla1~ArmR1_Cla1_body"/>
-		<child link="link0_65"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.28978 0.07765"/>
-		<axis xyz="0.00000 0.96593 0.25882"/>
-	</joint>
-	<joint name="jointfix_53_65" type="fixed">
-		<parent link="link0_65"/>
-		<child link="Node_ArmR_Sho~ArmR2_Sho1~ArmR2_Sho1_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="ArmR3_Sho2" type="revolute">
-		<parent link="Node_ArmR_Sho~ArmR2_Sho1~ArmR2_Sho1_body"/>
-		<child link="link0_67"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="-1.57080 -0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_52_67" type="fixed">
-		<parent link="link0_67"/>
-		<child link="Node_ArmR_Sho_B~ArmR3_Sho2~ArmR3_Sho2_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="ArmR4_Sho3" type="continuous">
-		<parent link="Node_ArmR_Sho_B~ArmR3_Sho2~ArmR3_Sho2_body"/>
-		<child link="link0_69"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -1.57080 -1.57080" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 1.00000"/>
-	</joint>
-	<joint name="jointfix_51_69" type="fixed">
-		<parent link="link0_69"/>
-		<child link="ArmR4_Sho3~ArmR4_Sho3_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="ArmR5_Elb1" type="revolute">
-		<parent link="ArmR4_Sho3~ArmR4_Sho3_body"/>
-		<child link="link0_71"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.05500 0.40900"/>
-		<axis xyz="1.00000 -0.00000 -0.00000"/>
-	</joint>
-	<joint name="jointfix_50_71" type="fixed">
-		<parent link="link0_71"/>
-		<child link="Node_ArmR_Elb~ArmR5_Elb1~ArmR5_Elb1_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="ArmR6_Elb2" type="continuous">
-		<parent link="Node_ArmR_Elb~ArmR5_Elb1~ArmR5_Elb1_body"/>
-		<child link="link0_73"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="-0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 1.00000"/>
-	</joint>
-	<joint name="jointfix_49_73" type="fixed">
-		<parent link="link0_73"/>
-		<child link="ArmR6_Elb2~ArmR6_Elb2_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="ArmR7_Wri1" type="revolute">
-		<parent link="ArmR6_Elb2~ArmR6_Elb2_body"/>
-		<child link="link0_75"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.36400"/>
-		<axis xyz="0.00000 -1.00000 -0.00000"/>
-	</joint>
-	<joint name="jointfix_48_75" type="fixed">
-		<parent link="link0_75"/>
-		<child link="Node_ArmR_Wri~ArmR7_Wri1~ArmR7_Wri1_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="ArmR8_Wri2" type="revolute">
-		<parent link="Node_ArmR_Wri~ArmR7_Wri1~ArmR7_Wri1_body"/>
-		<child link="link0_77"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 1.57080" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 -1.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_47_77" type="fixed">
-		<parent link="link0_77"/>
-		<child link="ArmR8_Wri2~ArmR8_Wri2_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_46_76" type="fixed">
-		<parent link="ArmR8_Wri2~ArmR8_Wri2_body"/>
-		<child link="HandR_Base~Hand R Root"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -1.57080 4.71239" xyz="0.00000 0.00000 0.14000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_28_78" type="fixed">
-		<parent link="HandR_Base~Hand R Root"/>
-		<child link="Hand R Col"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_45_78" type="fixed">
-		<parent link="HandR_Base~Hand R Root"/>
-		<child link="Hand R Palm"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Index R 1 Joint" type="revolute">
-		<parent link="Hand R Palm"/>
-		<child link="link0_82"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="1.57081 1.48348 -3.14158" xyz="0.14531 0.00000 -0.03922"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_31_82" type="fixed">
-		<parent link="link0_82"/>
-		<child link="Index R 1 Joint~Index R 1 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Index R 2 Joint" type="revolute">
-		<parent link="Index R 1 Joint~Index R 1 Body"/>
-		<child link="link0_84"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.05595 -0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_30_84" type="fixed">
-		<parent link="link0_84"/>
-		<child link="Index R 2 Joint~Index R 2 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Index R 3 Joint" type="revolute">
-		<parent link="Index R 2 Joint~Index R 2 Body"/>
-		<child link="link0_86"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.03197 -0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_29_86" type="fixed">
-		<parent link="link0_86"/>
-		<child link="Index R 3 Joint~Index R 3 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Middle R 1 Joint" type="revolute">
-		<parent link="Hand R Palm"/>
-		<child link="link0_88"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 1.57080 -4.71239" xyz="0.15172 0.00000 -0.00750"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_34_88" type="fixed">
-		<parent link="link0_88"/>
-		<child link="Middle R 1 Joint~Middle R 1 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Middle R 2 Joint" type="revolute">
-		<parent link="Middle R 1 Joint~Middle R 1 Body"/>
-		<child link="link0_90"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.06000 0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_33_90" type="fixed">
-		<parent link="link0_90"/>
-		<child link="Middle R 2 Joint~Middle R 2 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Middle R 3 Joint" type="revolute">
-		<parent link="Middle R 2 Joint~Middle R 2 Body"/>
-		<child link="link0_92"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.03900 0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_32_92" type="fixed">
-		<parent link="link0_92"/>
-		<child link="Middle R 3 Joint~Middle R 3 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Pinky R 1 Joint" type="revolute">
-		<parent link="Hand R Palm"/>
-		<child link="link0_94"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="-1.57080 1.16969 0.00000" xyz="0.13032 0.00000 0.05530"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_37_94" type="fixed">
-		<parent link="link0_94"/>
-		<child link="Pinky R 1 Joint~Pinky R 1 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Pinky R 2 Joint" type="revolute">
-		<parent link="Pinky R 1 Joint~Pinky R 1 Body"/>
-		<child link="link0_96"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.04610 0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_36_96" type="fixed">
-		<parent link="link0_96"/>
-		<child link="Pinky R 2 Joint~Pinky R 2 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Pinky R 3 Joint" type="revolute">
-		<parent link="Pinky R 2 Joint~Pinky R 2 Body"/>
-		<child link="link0_98"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.02706 -0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_35_98" type="fixed">
-		<parent link="link0_98"/>
-		<child link="Pinky R 3 Joint~Pinky R 3 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="RightHandFingers" type="revolute">
-		<parent link="Hand R Palm"/>
-		<child link="link0_100"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="-1.57080 1.16969 0.00000" xyz="0.13032 0.00000 0.05530"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_38_100" type="fixed">
-		<parent link="link0_100"/>
-		<child link="RightHandFingers"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="RightHandThumb" type="revolute">
-		<parent link="Hand R Palm"/>
-		<child link="link0_102"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="2.91903 -1.18743 -2.93505" xyz="0.08111 -0.04691 -0.03950"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_39_102" type="fixed">
-		<parent link="link0_102"/>
-		<child link="RightHandThumb"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Ring R 1 Joint" type="revolute">
-		<parent link="Hand R Palm"/>
-		<child link="link0_104"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="-1.57080 1.39616 0.00000" xyz="0.14652 0.00000 0.02630"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_42_104" type="fixed">
-		<parent link="link0_104"/>
-		<child link="Ring R 1 Joint~Ring R 1 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Ring R 2 Joint" type="revolute">
-		<parent link="Ring R 1 Joint~Ring R 1 Body"/>
-		<child link="link0_106"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.05506 0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_41_106" type="fixed">
-		<parent link="link0_106"/>
-		<child link="Ring R 2 Joint~Ring R 2 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Ring R 3 Joint" type="revolute">
-		<parent link="Ring R 2 Joint~Ring R 2 Body"/>
-		<child link="link0_108"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="-0.00000 -0.03704 0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_40_108" type="fixed">
-		<parent link="link0_108"/>
-		<child link="Ring R 3 Joint~Ring R 3 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Thumb R 1 Joint" type="revolute">
-		<parent link="Hand R Palm"/>
-		<child link="link0_110"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="2.91903 -1.18743 -2.93505" xyz="0.08111 -0.04691 -0.03950"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_44_110" type="fixed">
-		<parent link="link0_110"/>
-		<child link="Thumb R 1 Joint~Thumb R 1 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Thumb R 2 Joint" type="revolute">
-		<parent link="Thumb R 1 Joint~Thumb R 1 Body"/>
-		<child link="link0_112"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="-0.00002 -0.04408 -0.00005"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_43_112" type="fixed">
-		<parent link="link0_112"/>
-		<child link="Thumb R 2 Joint~Thumb R 2 Body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_63_8" type="fixed">
-		<parent link="CenterArms"/>
-		<child link="Head Base"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.26850"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Neck_1_Yaw" type="revolute">
-		<parent link="Head Base"/>
-		<child link="link0_115"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 1.00000"/>
-	</joint>
-	<joint name="jointfix_62_115" type="fixed">
-		<parent link="link0_115"/>
-		<child link="Neck_1_Yaw~Neck_1_Yaw_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="Neck_2_Pitch" type="revolute">
-		<parent link="Neck_1_Yaw~Neck_1_Yaw_body"/>
-		<child link="link0_117"/>
-        <limit effort="100" lower="-1000" upper="1000" velocity="3.1415"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="1.57080 -0.00000 1.57080" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_61_117" type="fixed">
-		<parent link="link0_117"/>
-		<child link="Neck_2_Pitch~Neck_2_Pitch_body"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_57_116" type="fixed">
-		<parent link="Neck_2_Pitch~Neck_2_Pitch_body"/>
-		<child link="DepthCamera"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 0.00000 -3.14159" xyz="0.03300 0.24780 0.19300"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="VirtualCentralGazeDepthCamera" type="prismatic">
-		<parent link="DepthCamera"/>
-		<child link="link0_120"/>
-<limit effort="1000.0" lower="-0.50000" upper="0.50000" velocity="0.5"/>		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -1.57080 3.14159" xyz="-0.00000 0.00000 0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_56_120" type="fixed">
-		<parent link="link0_120"/>
-		<child link="VirtualCentralGazeDepthCamera"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_58_116" type="fixed">
-		<parent link="Neck_2_Pitch~Neck_2_Pitch_body"/>
-		<child link="FleaCamerasCenter"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 0.00000 -3.14159" xyz="0.00000 0.17300 0.12300"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_60_116" type="fixed">
-		<parent link="Neck_2_Pitch~Neck_2_Pitch_body"/>
-		<child link="Roboception"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.17300 0.16050"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="VirtualCentralGaze" type="prismatic">
-		<parent link="Roboception"/>
-		<child link="link0_124"/>
-<limit effort="1000.0" lower="-0.50000" upper="0.50000" velocity="0.5"/>		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -1.57080 3.14159" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="1.00000 0.00000 0.00000"/>
-	</joint>
-	<joint name="jointfix_59_124" type="fixed">
-		<parent link="link0_124"/>
-		<child link="VirtualCentralGaze"/>
-		<dynamics damping="1.0" friction="0.0001"/>
-		<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
-		<axis xyz="0.00000 0.00000 0.00000"/>
-	</joint>
-</robot>
diff --git a/resources/worlds/apartment-small.urdf b/resources/worlds/apartment_without_walls.urdf
similarity index 100%
rename from resources/worlds/apartment-small.urdf
rename to resources/worlds/apartment_without_walls.urdf
diff --git a/resources/worlds/kitchen-small.urdf b/resources/worlds/kitchen_without_walls.urdf
similarity index 100%
rename from resources/worlds/kitchen-small.urdf
rename to resources/worlds/kitchen_without_walls.urdf