diff --git a/URDFTools_8cpp.html b/URDFTools_8cpp.html
index 127bf1f..791eeb9 100644
--- a/URDFTools_8cpp.html
+++ b/URDFTools_8cpp.html
@@ -72,9 +72,10 @@
 <div class="textblock"><code>#include &quot;<a class="el" href="URDFTools_8hpp_source.html">URDFTools.hpp</a>&quot;</code><br />
 <code>#include &lt;base/JointLimits.hpp&gt;</code><br />
 <code>#include &lt;base-logging/Logging.hpp&gt;</code><br />
-<code>#include &lt;urdf_model/link.h&gt;</code><br />
 <code>#include &lt;stack&gt;</code><br />
 <code>#include &lt;fstream&gt;</code><br />
+<code>#include &lt;iostream&gt;</code><br />
+<code>#include &lt;tinyxml2.h&gt;</code><br />
 </div><table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="namespaces" name="namespaces"></a>
 Namespaces</h2></td></tr>
diff --git a/URDFTools_8hpp_source.html b/URDFTools_8hpp_source.html
index 92b5ffc..5f1a96e 100644
--- a/URDFTools_8hpp_source.html
+++ b/URDFTools_8hpp_source.html
@@ -109,13 +109,13 @@
 <div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
 <div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span><span class="preprocessor">#endif</span></div>
 <div class="ttc" id="aclasswbc_1_1URDFTools_html"><div class="ttname"><a href="classwbc_1_1URDFTools.html">wbc::URDFTools</a></div><div class="ttdef"><b>Definition</b> URDFTools.hpp:14</div></div>
-<div class="ttc" id="aclasswbc_1_1URDFTools_html_a1cc96822c267e94ecb70e5614de1feda"><div class="ttname"><a href="classwbc_1_1URDFTools.html#a1cc96822c267e94ecb70e5614de1feda">wbc::URDFTools::robotNameFromURDF</a></div><div class="ttdeci">static const std::string robotNameFromURDF(const std::string &amp;filename)</div><div class="ttdef"><b>Definition</b> URDFTools.cpp:90</div></div>
-<div class="ttc" id="aclasswbc_1_1URDFTools_html_a200de35d7ffe473c3d9f2827873ee789"><div class="ttname"><a href="classwbc_1_1URDFTools.html#a200de35d7ffe473c3d9f2827873ee789">wbc::URDFTools::rootLinkFromURDF</a></div><div class="ttdeci">static const std::string rootLinkFromURDF(const std::string &amp;filename)</div><div class="ttdef"><b>Definition</b> URDFTools.cpp:82</div></div>
-<div class="ttc" id="aclasswbc_1_1URDFTools_html_a4247d01c5a2ef2d16d64b1d7f38aa07e"><div class="ttname"><a href="classwbc_1_1URDFTools.html#a4247d01c5a2ef2d16d64b1d7f38aa07e">wbc::URDFTools::jointLimitsFromURDF</a></div><div class="ttdeci">static void jointLimitsFromURDF(const std::string &amp;filename, base::JointLimits &amp;limits)</div><div class="ttdef"><b>Definition</b> URDFTools.cpp:46</div></div>
-<div class="ttc" id="aclasswbc_1_1URDFTools_html_a85910681083215dd0aad44aaeb5fc2d8"><div class="ttname"><a href="classwbc_1_1URDFTools.html#a85910681083215dd0aad44aaeb5fc2d8">wbc::URDFTools::printTree</a></div><div class="ttdeci">static void printTree(const std::string &amp;filename)</div><div class="ttdef"><b>Definition</b> URDFTools.cpp:114</div></div>
-<div class="ttc" id="aclasswbc_1_1URDFTools_html_aaf21737d94388293691156a386643ff3"><div class="ttname"><a href="classwbc_1_1URDFTools.html#aaf21737d94388293691156a386643ff3">wbc::URDFTools::applyJointBlacklist</a></div><div class="ttdeci">static bool applyJointBlacklist(urdf::ModelInterfaceSharedPtr &amp;robot_urdf, const std::vector&lt; std::string &gt; &amp;blacklist)</div><div class="ttdef"><b>Definition</b> URDFTools.cpp:239</div></div>
-<div class="ttc" id="aclasswbc_1_1URDFTools_html_abc4c16dd5a4cc031e09d49dece95ca1f"><div class="ttname"><a href="classwbc_1_1URDFTools.html#abc4c16dd5a4cc031e09d49dece95ca1f">wbc::URDFTools::addFloatingBaseToURDF</a></div><div class="ttdeci">static std::vector&lt; std::string &gt; addFloatingBaseToURDF(urdf::ModelInterfaceSharedPtr &amp;robot_urdf, const std::string &amp;world_frame_id=&quot;world&quot;)</div><div class="ttdef"><b>Definition</b> URDFTools.cpp:123</div></div>
-<div class="ttc" id="aclasswbc_1_1URDFTools_html_ae16b7cc8afeb55fc51ea87db2e7d6b10"><div class="ttname"><a href="classwbc_1_1URDFTools.html#ae16b7cc8afeb55fc51ea87db2e7d6b10">wbc::URDFTools::jointNamesFromURDF</a></div><div class="ttdeci">static std::vector&lt; std::string &gt; jointNamesFromURDF(const std::string &amp;filename)</div><div class="ttdef"><b>Definition</b> URDFTools.cpp:10</div></div>
+<div class="ttc" id="aclasswbc_1_1URDFTools_html_a1cc96822c267e94ecb70e5614de1feda"><div class="ttname"><a href="classwbc_1_1URDFTools.html#a1cc96822c267e94ecb70e5614de1feda">wbc::URDFTools::robotNameFromURDF</a></div><div class="ttdeci">static const std::string robotNameFromURDF(const std::string &amp;filename)</div><div class="ttdef"><b>Definition</b> URDFTools.cpp:91</div></div>
+<div class="ttc" id="aclasswbc_1_1URDFTools_html_a200de35d7ffe473c3d9f2827873ee789"><div class="ttname"><a href="classwbc_1_1URDFTools.html#a200de35d7ffe473c3d9f2827873ee789">wbc::URDFTools::rootLinkFromURDF</a></div><div class="ttdeci">static const std::string rootLinkFromURDF(const std::string &amp;filename)</div><div class="ttdef"><b>Definition</b> URDFTools.cpp:83</div></div>
+<div class="ttc" id="aclasswbc_1_1URDFTools_html_a4247d01c5a2ef2d16d64b1d7f38aa07e"><div class="ttname"><a href="classwbc_1_1URDFTools.html#a4247d01c5a2ef2d16d64b1d7f38aa07e">wbc::URDFTools::jointLimitsFromURDF</a></div><div class="ttdeci">static void jointLimitsFromURDF(const std::string &amp;filename, base::JointLimits &amp;limits)</div><div class="ttdef"><b>Definition</b> URDFTools.cpp:47</div></div>
+<div class="ttc" id="aclasswbc_1_1URDFTools_html_a85910681083215dd0aad44aaeb5fc2d8"><div class="ttname"><a href="classwbc_1_1URDFTools.html#a85910681083215dd0aad44aaeb5fc2d8">wbc::URDFTools::printTree</a></div><div class="ttdeci">static void printTree(const std::string &amp;filename)</div><div class="ttdef"><b>Definition</b> URDFTools.cpp:115</div></div>
+<div class="ttc" id="aclasswbc_1_1URDFTools_html_aaf21737d94388293691156a386643ff3"><div class="ttname"><a href="classwbc_1_1URDFTools.html#aaf21737d94388293691156a386643ff3">wbc::URDFTools::applyJointBlacklist</a></div><div class="ttdeci">static bool applyJointBlacklist(urdf::ModelInterfaceSharedPtr &amp;robot_urdf, const std::vector&lt; std::string &gt; &amp;blacklist)</div><div class="ttdef"><b>Definition</b> URDFTools.cpp:240</div></div>
+<div class="ttc" id="aclasswbc_1_1URDFTools_html_abc4c16dd5a4cc031e09d49dece95ca1f"><div class="ttname"><a href="classwbc_1_1URDFTools.html#abc4c16dd5a4cc031e09d49dece95ca1f">wbc::URDFTools::addFloatingBaseToURDF</a></div><div class="ttdeci">static std::vector&lt; std::string &gt; addFloatingBaseToURDF(urdf::ModelInterfaceSharedPtr &amp;robot_urdf, const std::string &amp;world_frame_id=&quot;world&quot;)</div><div class="ttdef"><b>Definition</b> URDFTools.cpp:124</div></div>
+<div class="ttc" id="aclasswbc_1_1URDFTools_html_ae16b7cc8afeb55fc51ea87db2e7d6b10"><div class="ttname"><a href="classwbc_1_1URDFTools.html#ae16b7cc8afeb55fc51ea87db2e7d6b10">wbc::URDFTools::jointNamesFromURDF</a></div><div class="ttdeci">static std::vector&lt; std::string &gt; jointNamesFromURDF(const std::string &amp;filename)</div><div class="ttdef"><b>Definition</b> URDFTools.cpp:11</div></div>
 <div class="ttc" id="anamespacebase_html"><div class="ttname"><a href="namespacebase.html">base</a></div><div class="ttdef"><b>Definition</b> ControllerTools.cpp:6</div></div>
 <div class="ttc" id="anamespacewbc_html"><div class="ttname"><a href="namespacewbc.html">wbc</a></div><div class="ttdef"><b>Definition</b> ContactsAccelerationConstraint.cpp:3</div></div>
 </div><!-- fragment --></div><!-- contents -->