diff --git a/cob_bringup/robots/raw3-3.launch b/cob_bringup/robots/raw3-3.launch
index 7d232695e..ca923de4a 100644
--- a/cob_bringup/robots/raw3-3.launch
+++ b/cob_bringup/robots/raw3-3.launch
@@ -6,7 +6,6 @@
-
diff --git a/cob_bringup/robots/raw3-3.xml b/cob_bringup/robots/raw3-3.xml
index 82524af61..4f233dcf1 100644
--- a/cob_bringup/robots/raw3-3.xml
+++ b/cob_bringup/robots/raw3-3.xml
@@ -6,7 +6,6 @@
-
@@ -55,12 +54,6 @@
-
diff --git a/cob_default_robot_config/robots/raw3-3/script_server/torso_joint_configurations.yaml b/cob_default_robot_config/robots/raw3-3/script_server/torso_joint_configurations.yaml
deleted file mode 100644
index 0c0855c4f..000000000
--- a/cob_default_robot_config/robots/raw3-3/script_server/torso_joint_configurations.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-joint_names: ["head_powerball_bottom_joint","head_powerball_side_joint"]
-action_name: /torso_controller/follow_joint_trajectory
-service_ns: /torso_controller
-
-home: [[0.0,0.0]]
-pos1: [[0.0,1.3]]
-pos2: [[1.57,-1.57]]
diff --git a/cob_default_robot_config/robots/raw3-3/upload_param_raw3-3.launch b/cob_default_robot_config/robots/raw3-3/upload_param_raw3-3.launch
index 8ec85f9fd..17447c965 100644
--- a/cob_default_robot_config/robots/raw3-3/upload_param_raw3-3.launch
+++ b/cob_default_robot_config/robots/raw3-3/upload_param_raw3-3.launch
@@ -3,7 +3,6 @@
-
diff --git a/cob_hardware_config/robots/raw3-3/config/base/CanCtrl.ini b/cob_hardware_config/robots/raw3-3/config/base/CanCtrl.ini
deleted file mode 100644
index c359b633f..000000000
--- a/cob_hardware_config/robots/raw3-3/config/base/CanCtrl.ini
+++ /dev/null
@@ -1,377 +0,0 @@
-// ----------------------------------------------------------------------
-// Neobotix
-// www.neobotix.de
-// Copyright (c) 2003. All rights reserved.
-// ----------------------------------------------------------------------
-
-// ----------------------------------------------------------------------
-// CanCtrl.ini
-// Configuration file for neobotix mobile platforms
-// ----------------------------------------------------------------------
-
-
-// ----------------------------------------------------------------------
-// Configuration of the can network
-// ----------------------------------------------------------------------
-[TypeCan]
-// 0 = Can Peak Dongle
-// 1 = Can Peak USB
-// 2 = Can Card ESD
-Can = 0
-
-DevicePath = "/dev/pcan0"
-
-[CanCtrl]
-// network of esd card (0 or 1)
-NetESD = 0
-// Baudrate values:
-0 = 1000 kbit/s
-2 = 500 kbit/s
-4 = 250 kbit/s
-6 = 125 kbit/s
-9 = 50 kbit/s
-B = 20 kbit/s
-D = 10 kbit/s
-BaudrateVal = 0
-
-
-[CanNeoIDs]
-// Can-IDs if Neobotix Boards are used (only read from Inifile for CoB3 Platforms)
-DriveNeo_W1Drive_rx_ID = 0x0210
-DriveNeo_W1Drive_tx_ID = 0x0211
-DriveNeo_W1Steer_rx_ID = 0x0220
-DriveNeo_W1Steer_tx_ID = 0x0221
-
-DriveNeo_W2Drive_rx_ID = 0x0230
-DriveNeo_W2Drive_tx_ID = 0x0231
-DriveNeo_W2Steer_rx_ID = 0x0240
-DriveNeo_W2Steer_tx_ID = 0x0241
-
-DriveNeo_W3Drive_rx_ID = 0x0250
-DriveNeo_W3Drive_tx_ID = 0x0251
-DriveNeo_W3Steer_rx_ID = 0x0260
-DriveNeo_W3Steer_tx_ID = 0x0261
-
-DriveNeo_W4Drive_rx_ID = 0x0270
-DriveNeo_W4Drive_tx_ID = 0x0271
-DriveNeo_W4Steer_rx_ID = 0x0280
-DriveNeo_W4Steer_tx_ID = 0x0281
-
-IOBoard_rx_ID = 0x0100
-IOBoard_tx_ID = 0x0101
-USBoard_rx_ID = 0x0400
-USBoard_tx_ID = 0x0401
-GyroBoard_rx_ID = 0x0120
-GyroBoard_tx_ID = 0x0121
-RadarBoard_rx_ID = 0x0110
-RadarBoard_tx_ID = 0x0111
-
-
-[CanOpenIDs]
-// Can-IDs for motor controllers if elmo Harmonicas are used via CanOpen
-// Wheel 1
-// Drive (can adresse motor 1)
-TxPDO1_W1Drive = 0x182;
-TxPDO2_W1Drive = 0x282;
-RxPDO2_W1Drive = 0x302;
-TxSDO_W1Drive = 0x582;
-RxSDO_W1Drive = 0x602;
-
-// Steer (can adresse motor 2)
-TxPDO1_W1Steer = 0x181;
-TxPDO2_W1Steer = 0x281;
-RxPDO2_W1Steer = 0x301;
-TxSDO_W1Steer = 0x581;
-RxSDO_W1Steer = 0x601;
-
-// Wheel 2
-// Drive (can adresse motor 3)
-TxPDO1_W2Drive = 0x184;
-TxPDO2_W2Drive = 0x284;
-RxPDO2_W2Drive = 0x304;
-TxSDO_W2Drive = 0x584;
-RxSDO_W2Drive = 0x604;
-
-// Steer (can adresse motor 4)
-TxPDO1_W2Steer = 0x183;
-TxPDO2_W2Steer = 0x283;
-RxPDO2_W2Steer = 0x303;
-TxSDO_W2Steer = 0x583;
-RxSDO_W2Steer = 0x603;
-
-// Wheel 3
-// Drive (can adresse motor 5)
-TxPDO1_W3Drive = 0x186;
-TxPDO2_W3Drive = 0x286;
-RxPDO2_W3Drive = 0x306;
-TxSDO_W3Drive = 0x586;
-RxSDO_W3Drive = 0x606;
-// Steer (can adresse motor 6)
-TxPDO1_W3Steer = 0x185;
-TxPDO2_W3Steer = 0x285;
-RxPDO2_W3Steer = 0x305;
-TxSDO_W3Steer = 0x585;
-RxSDO_W3Steer = 0x605;
-
-// Wheel 4
-// Drive (can adresse motor 7)
-TxPDO1_W4Drive = 0x188;
-TxPDO2_W4Drive = 0x288;
-RxPDO2_W4Drive = 0x308;
-TxSDO_W4Drive = 0x588;
-RxSDO_W4Drive = 0x608;
-// STeer (can adresse motor 8)
-TxPDO1_W4Steer = 0x187;
-TxPDO2_W4Steer = 0x287;
-RxPDO2_W4Steer = 0x307;
-TxSDO_W4Steer = 0x587;
-RxSDO_W4Steer = 0x607;
-
-
----------------------------------------
-// Configuration of the drive
-// ----------------------------------------------------------------------
-[TypeDrive]
-
-// use DriveAmpNeoMotNeo, DriveAmpHarmMotTetra85, DriveAmpHarmMotFaul4490, DriveAmpHarmMotFaul4490CoB3Drive, DriveAmpHarmMotFaul4490CoB3Steer
-Drive1 = "DriveAmpHarmMotFaul4490CoB3Drive"
-Steer1 = "DriveAmpHarmMotFaul4490CoB3Steer"
-
-[DriveAmpNeoMotNeo]
-// Number of encoder increments per revolution
-EncIncrPerRevMot = 4096;
-// Specific parameter used only in DriveAmpNeoMotNeo
-VelMeasFrqHz = 500;
-// Gear ratio between the motor and the output schaft
-GearRatio = 37;
-// Belt ratio between the output shaft and the wheel
-BeltRatio = 1;
-// Choose 1.0 or -1.0 to change the rotation direction
-Sign = -1.0;
-// Maximum rotation velocity in [inc/s]
-VelMaxEncIncrS = 350;
-// acceleration [inc/s^2]
-AccIncrS = 80000
-// deceleration [inc/s^2]
-DecIncrS = 80000
-
-[DriveAmpHarmMotTetra85]
-EncIncrPerRevMot = 8000;
-VelMeasFrqHz = 1;
-GearRatio = 37;
-BeltRatio = 1;
-Sign = -1.0;
-VelMaxEncIncrS = 10000;
-AccIncrS = 80000;
-DecIncrS = 80000;
-
-[DriveAmpHarmMotFaul4490]
-EncIncrPerRevMot = 2000;
-VelMeasFrqHz = 1;
-GearRatio = 22;
-BeltRatio = 1;
-Sign = 1.0;
-VelMaxEncIncrS = 120000;
-AccIncrS = 80000;
-DecIncrS = 80000;
-
-[Drive1]
-EncIncrPerRevMot = 4096; //16384; //4096;
-VelMeasFrqHz = 1;
-GearRatio = 21;
-BeltRatio = 1;
-Sign = -1.0;
-VelMaxEncIncrS = 240000;
-AccIncrS = 1000000;
-DecIncrS = 1000000;
-EncOffsetIncr = 0;
-IsSteering = false;
-CurrentToTorque = 0.43; // Factor to convert motor active current [A] into Torque [Nm]
-CurrMax = 9.3; // Defines maximum allowed current command (in MotionMode: CurrentCtrl)
-HomingDigIn = 19;
-
-[Steer1]
-EncIncrPerRevMot = 8000;
-VelMeasFrqHz = 1;
-GearRatio = 1; //12.66666666;
-BeltRatio = 4;
-Sign = 1.0;
-VelMaxEncIncrS = 240000;
-AccIncrS = 1000000;
-DecIncrS = 1000000;
-EncOffsetIncr = -12700; //-12892;
-IsSteering = true;
-CurrentToTorque = 0.087; // Factor to convert motor active current [A] into Torque [Nm]
-CurrMax = 6.9; // Defines maximum allowed current command (in MotionMode: CurrentCtrl)
-HomingDigIn = 19;
-
-
-[Drive2]
-EncIncrPerRevMot = 4096; //16384; //4096;
-VelMeasFrqHz = 1;
-GearRatio = 21;
-BeltRatio = 1;
-Sign = -1.0;
-VelMaxEncIncrS = 240000;
-AccIncrS = 1000000;
-DecIncrS = 1000000;
-EncOffsetIncr = 12000;//0;
-IsSteering = false;
-CurrentToTorque = 0.43; // Factor to convert motor active current [A] into Torque [Nm]
-CurrMax = 9.3; // Defines maximum allowed current command (in MotionMode: CurrentCtrl)
-HomingDigIn = 19;
-
-[Steer2]
-EncIncrPerRevMot = 8000;
-VelMeasFrqHz = 1;
-GearRatio = 1; //12.66666666;
-BeltRatio = 4;
-Sign = 1.0;
-VelMaxEncIncrS = 240000;
-AccIncrS = 1000000;
-DecIncrS = 1000000;
-EncOffsetIncr = -12673; //-13717;
-IsSteering = true;
-CurrentToTorque = 0.087; // Factor to convert motor active current [A] into Torque [Nm]
-CurrMax = 6.9; // Defines maximum allowed current command (in MotionMode: CurrentCtrl)
-HomingDigIn = 19;
-
-[Drive3]
-EncIncrPerRevMot = 4096; //16384; //4096;
-VelMeasFrqHz = 1;
-GearRatio = 21;
-BeltRatio = 1;
-Sign = 1.0;
-VelMaxEncIncrS = 240000;
-AccIncrS = 1000000;
-DecIncrS = 1000000;
-EncOffsetIncr = 12000;//0;
-IsSteering = false;
-CurrentToTorque = 0.43; // Factor to convert motor active current [A] into Torque [Nm]
-CurrMax = 9.3; // Defines maximum allowed current command (in MotionMode: CurrentCtrl)
-HomingDigIn = 19;
-
-[Steer3]
-EncIncrPerRevMot = 8000;
-VelMeasFrqHz = 1;
-GearRatio = 1; //12.66666666;
-BeltRatio = 4;
-Sign = 1.0;
-VelMaxEncIncrS = 240000;
-AccIncrS = 1000000;
-DecIncrS = 1000000;
-EncOffsetIncr = 14093; //-13019;
-IsSteering = true;
-CurrentToTorque = 0.087; // Factor to convert motor active current [A] into Torque [Nm]
-CurrMax = 6.9; // Defines maximum allowed current command (in MotionMode: CurrentCtrl)
-HomingDigIn = 17;
-
-
-[Drive4]
-EncIncrPerRevMot = 4096; // 16384; //4096;
-VelMeasFrqHz = 1;
-GearRatio = 21;
-BeltRatio = 1;
-Sign = 1.0;
-VelMaxEncIncrS = 240000;
-AccIncrS = 1000000;
-DecIncrS = 1000000;
-EncOffsetIncr = 0;//0;
-IsSteering = false;
-CurrentToTorque = 0.43; // Factor to convert motor active current [A] into Torque [Nm]
-CurrMax = 9.3; // Defines maximum allowed current command (in MotionMode: CurrentCtrl)
-HomingDigIn = 19;
-
-[Steer4]
-EncIncrPerRevMot = 8000;
-VelMeasFrqHz = 1;
-GearRatio = 1; //12.66666666;
-BeltRatio = 4;
-Sign = 1.0;
-VelMaxEncIncrS = 240000;
-AccIncrS = 1000000;
-DecIncrS = 1000000;
-EncOffsetIncr = 13972; //13711;
-IsSteering = true;
-CurrentToTorque = 0.087; // Factor to convert motor active current [A] into Torque [Nm]
-CurrMax = 6.9; // Defines maximum allowed current command (in MotionMode: CurrentCtrl)
-HomingDigIn = 19;
-
-
-// ----------------------------------------------------------------------
-// Configuration of the ultrasonic sensors
-// ----------------------------------------------------------------------
-
-// ultrasonic sensors
-[US]
-/ factor to scale ultrasonic values
-ScaleToMM = 0.543
-
-// Each ultrasonic sensor has the parameters:
-// Minimum measure distance in [mm]
-// MinMeasDistMM = xxx;
-// Maximum measure distance in [mm]
-// MaxMeasDistMM = xxx;
-// PosXMM x-coordinate with respect to the platform frame in [mm]
-// PosXMM = xxx;
-// PosYMM y-coordinate with respect to the platform frame in [mm]
-// PosYMM = xxx;
-// PosZMM z-coordinate with respect to the platform frame in [mm]
-// PosZMM = xxx;
-
-[US0]
-MinMeasDistMM = 10;
-MaxMeasDistMM = 4000;
-PosXMM = 0;
-PosYMM = 100;
-PosZMM = 200;
-
-[US1]
-MinMeasDistMM = 10;
-MaxMeasDistMM = 4000;
-PosXMM = 0;
-PosYMM = 100;
-PosZMM = 300;
-
-[US2]
-MinMeasDistMM = 10;
-MaxMeasDistMM = 4000;
-PosXMM = 0;
-PosYMM = 100;
-PosZMM = 400;
-
-[US3]
-MinMeasDistMM = 10;
-MaxMeasDistMM = 4000;
-PosXMM = 0;
-PosYMM = -100;
-PosZMM = 200;
-
-[US4]
-MinMeasDistMM = 10;
-MaxMeasDistMM = 4000;
-PosXMM = 0;
-PosYMM = -100;
-PosZMM = 300;
-
-[US5]
-MinMeasDistMM = 10;
-MaxMeasDistMM = 4000;
-PosXMM = 0;
-PosYMM = -100;
-PosZMM = 400;
-
-[US6]
-MinMeasDistMM = 10;
-MaxMeasDistMM = 4000;
-PosXMM = 0;
-PosYMM = -100;
-PosZMM = 400;
-
-[US7]
-MinMeasDistMM = 10;
-MaxMeasDistMM = 4000;
-PosXMM = 0;
-PosYMM = -100;
-PosZMM = 400;
-
diff --git a/cob_hardware_config/robots/raw3-3/config/base/Interpolation.ini b/cob_hardware_config/robots/raw3-3/config/base/Interpolation.ini
deleted file mode 100644
index bba737b61..000000000
--- a/cob_hardware_config/robots/raw3-3/config/base/Interpolation.ini
+++ /dev/null
@@ -1,82 +0,0 @@
-// ----------------------------------------------------------------------
-// Neobotix
-// www.neobotix.de
-// Copyright (c) 2003. All rights reserved.
-// ----------------------------------------------------------------------
-
-// ----------------------------------------------------------------------
-// Interpolation.ini
-// Configuration file for neobotix mobile platforms
-// ----------------------------------------------------------------------
-
-
-// ----------------------------------------------------------------------
-// Configuration of the interpolator
-// ----------------------------------------------------------------------
-[Interpolation]
-
-// Maximum distance between estimated and interpolated position of the platfrom.
-// If the distance is greater the interpolator waits.
-IpoStartDist = 1000
-
-// Default translational velocity for interpolated motion [mm/s]
-IpoTransVel = 500 //250//1000.0
-
-// Default translational acceleration for interpolated motion [mm/s/s]
-IpoTransAcc = 75 //50 //100.0
-
-// Default rotational velocity for interpolated turning [rad/s]
-IpoRotVel = 0.3
-
-// Default rotational acceleration for interpolated turning [rad/s/s]
-IpoRotAcc = 0.15
-
-// Maximum velocity which can be reached on a straight route.
-IpoTransVelMax = 500 //1100.0
-
-// Maximum rotation velocity. In a curve the translation velocity will be
-// reduced in order to fullfill the constrain. [rad/s]
-IpoRotVelMax = 0.4
-
-// Maximum rotation acceleration [rad/s/s]
-IpoRotAccMax = 0.6
-
-// The velocity is reduced in a curve applying a linear function.
-// The minimum velocity is reached at that curvature [rad/mm]
-CurvAtMinVel = 0.003
-
-// The velocity in curve with the curvature 'CurvAtMinVel'
-VelMinAtCurvMax = 100
-
-
-// --------- specific to omnidir.driving --------
-
-// Prms for smooth interpolation of robot rotation (omnidir)
-// Virt.Mass
-VMassRR = 0.75
-// Spring-Constant
-kSpringRR = 5.5
-// Damping-coeff
-DampRR = 4.0
-
-// Prms for smooth interpolation of velocity direction rotation (omnidir)
-// Virt.Mass
-VMassRV = 0.75
-// Spring-Constant
-kSpringRV = 5.5
-// Damping-coeff
-DampRV = 4.0
-
-// Maximum rotation velocity. In a curve the translation velocity will be
-// reduced in order to fullfill the constrain. [rad/s]
-IpoRotRVelMax = 0.8
-
-// Maximum rotation acceleration [rad/s/s]
-IpoRotRAccMax = 0.4
-
-// Maximum rotation velocity. In a curve the translation velocity will be
-// reduced in order to fullfill the constrain. [rad/s]
-IpoRotVVelMax = 1.0 //0.4
-
-// Maximum rotation acceleration [rad/s/s]
-IpoRotVAccMax = 0.6
diff --git a/cob_hardware_config/robots/raw3-3/config/base/MotionCtrl.ini b/cob_hardware_config/robots/raw3-3/config/base/MotionCtrl.ini
deleted file mode 100644
index f4bda56ee..000000000
--- a/cob_hardware_config/robots/raw3-3/config/base/MotionCtrl.ini
+++ /dev/null
@@ -1,148 +0,0 @@
-// ----------------------------------------------------------------------
-// Neobotix
-// www.neobotix.de
-// Copyright (c) 2003. All rights reserved.
-// ----------------------------------------------------------------------
-
-// ----------------------------------------------------------------------
-// MotionCtrl.ini
-// Configuration file for neobotix mobile platforms
-// ----------------------------------------------------------------------
-
-
-// ----------------------------------------------------------------------
-// Configuration of the nonlinear controller for pose tracking
-// ----------------------------------------------------------------------
-[MotionCtrl]
-
-// Maximum translational velocity in mm/s
-VelTransMotCtrlMax = 500 //250 //560 //520 //920 //650 //920 //1300 // 500
-
-// Maximum rotational velocity [rad/s]
-VelRotMotCtrlMax = 1.0 //0.4 //0.9 // 1.7 //1.0 //1.4 // 1.0
-
-// Controller type
-// 0: Posture tracking
-// 1: Path following
-CtrlType = 1
-
-// Control parameter (refer to the platform documentation)
-CtrlPara1 = 0.6
-
-// Control parameter (refer to the platform documentation)
-CtrlPara2 = 8.0e-6 //0.000008
-
-// Control parameter for path following
-PathFollowRiseParam = 20.0e-4
-
-// Control parameter for path following
-PathFollowDampParam = 2.75 //1.765 //0.765 // 1.765
-
-// Maximum acceleration of the rotation velocity
-// The acceleration is given in the velocity increment in on control cycle [rad/s]
-AccelRotInVelIncPerCycleRadS = 0.08 //0.3 //0.5 //0.4 // 1.4 // 0.1 // 0.08 // 1.4
-
-// Control parameter for path following
-RiseDist1 = 0.005
-VelAtRiseDist1 = 100
-RiseDist2 = 0.002
-VelAtRiseDist2 = 550//1000
-
-// ----------------------------------------------------------------------
-// Configuration of the PID-Controller for positioning of steering-wheels
-// ----------------------------------------------------------------------
-[SteerCtrl]
-// Parameters for tuning PI-Controller
-Kp = 10.5 //1.75; //5.0;
-Ki = 0.0 //1.15; //0.10;
-
-// Parameters for tuning Impedance-Controller
-Spring = 15.0 //10.5
-Damp = 2.75 //2.1
-VirtMass = 0.1
-DPhiMax = 10.0 //12.0
-DDPhiMax = 40.0 //75.0 //100.0
-
-// determines weight of ICM-motion and Steer-Ctrl-Error for calc of final setpoint values
-// weight of ICM-Motion (influence of inverse kinematics)
-ICMWeightonSteer = 1.0 //0.8 //0.85
-
-// weight of commands to reduce steady state error (influence of Steer-Ctrlr)
-ErrWeightonSteer = 1.0 //0.2 //0.15
-
-
-// ----------------------------------------------------------------------
-// Configuration of the Potential-Field-Controller for ICM
-// ----------------------------------------------------------------------
-[PotFieldCtrl]
-// settings for attractive potential field and damping
-// scales gradient of attractive potential field ("stiffness")
-kp = 16;
-
-// scales damping
-kv = 4;
-
-// virtual Inertia of ICM
-virtMass = 0.25;
-
-// max. allowed "velocity" of ICM in ICM-space
-vmax = 1.570796;
-
-// settings for repulsive potential fields
-// scales region of influence of repulsive potential fields
-d0 = 1.0;
-
-// scales gradient of repulsive potential fields
-eta = 8.0;
-
-// ellipse principal axis Prms (determines form of repulsive potential fiedls circle <-> ellipse)
-// principal axis in Phi-direction
-a = 0.75;
-
-// principal axis in Theta-direction
-b = 0.45;
-
-
-// settings for predictive part of ctrlr
-// range of prediction window (must be > 0)
-n = 16;
-
-// scales gradient of potential field for Rho-part of ICM
-d0Rho = 16
-
-// scales damping
-d1Rho = 4
-
-// scales virtual mass
-d2Rho = 0.2
-
-
-// ----------------------------------------------------------------------
-// Configuration of the controller for pose stabilization
-// ----------------------------------------------------------------------
-[PoseStabil]
-
-// True: Pose stabilization is enabled
-PoseStabilEnabled = false
-
-// Target radius in [mm]
-PosTargetReached = 30
-
-// Intervall of the target angle [rad]
-AngleTargetReached = 0.017
-
-// Maximum velocity while pose stabilization
-VelTransMotCtrlMax = 100
-
-// Maximum rotational velocity while pose stabilization
-VelRotMotCtrlMax = 0.2
-
-// Control parameter of a proportianal controller for the x-direction
-MultVelTransDeltaX = 0.8
-
-// Control parameter of a proportianal controller for the angle
-MultVelRotDeltaAng = 1.0
-
-// Distance to drive backward while shunting.
-BwdDistMM = 500
-
diff --git a/cob_hardware_config/robots/raw3-3/config/base/NetworkComm.ini b/cob_hardware_config/robots/raw3-3/config/base/NetworkComm.ini
deleted file mode 100644
index c24ea9e89..000000000
--- a/cob_hardware_config/robots/raw3-3/config/base/NetworkComm.ini
+++ /dev/null
@@ -1,15 +0,0 @@
-[TypeGuiComm]
-// Enable conventional communication to (Java) GUI (usually should be enabled)
-EnableGuiComm = 1
-
-// Enable communication via OPC/UA
-EnableOPCComm = 0
-
-// Enable communication via OPC/UA, accessed via ADS
-EnableOPCviaADSComm = 0
-
-[OPC-Timing]
-// This is the timing settings for the thread to access OPC via ADS
-
-// Cycle time of the thread, given in seconds
-CycleTimeS = 0.05
diff --git a/cob_hardware_config/robots/raw3-3/config/base/Platform.ini b/cob_hardware_config/robots/raw3-3/config/base/Platform.ini
deleted file mode 100644
index 8308dfee1..000000000
--- a/cob_hardware_config/robots/raw3-3/config/base/Platform.ini
+++ /dev/null
@@ -1,750 +0,0 @@
-// ----------------------------------------------------------------------
-// Neobotix
-// www.neobotix.de
-// Copyright (c) 2003. All rights reserved.
-// ----------------------------------------------------------------------
-
-// ----------------------------------------------------------------------
-// Platform.ini
-// Configuration file for neobotix mobile platforms
-// ----------------------------------------------------------------------
-//
-// ----------------------------------------------------------------------
-// Configuration of the platform geometry
-// ----------------------------------------------------------------------
-[Geom]
-
-// Length of the platform in [mm]
-PltfLength = 752
-
-// Width of the platform in [mm]
-PltfWidth = 565
-
-// Distance of the wheels in [mm] // also used in ThreadMotionCtrl->PostProcess (ToDo: get rid of it)
-DistWheels = 470
-
-// Distance of the platform center to the wheel axis in [mm]
-DistPltfCenterToWheelAxis = 0
-
-// Distance of the wheels steering axis to the wheel center in [mm]
-DistSteerAxisToDriveWheelCenter = 0 //22 // (Neobotix: 18.1)
-
-// Distance of the wheel axis to the front scanner in [mm] in x-direction // has to be replaced by distance between PlatformCenter and Scanner
-DistWheelAxisToScanner = 465
-// Distance of the Platform center to the front scanner in [mm] in y-direction
-ScannerDeltaY = -232
-// Angle between the Platform frame an the front scanner in [rad]
-ScannerDeltaPhi = 0
-
-// Distance of the wheel axis to the rear scanner in [mm] in negative x-direction
-RearScannerDeltaX = -465
-// Distance of the Platform center to the front scanner in [mm] in negative y-direction
-RearScannerDeltaY = 232
-// Angle between the Platform frame an the front scanner in [rad]
-RearScannerDeltaPhi = 3.1415926536
-
-// Distance of the wheel axis to the side scanner in [mm] in negative x-direction
-SideScannerDeltaX = -252
-// Distance of the Platform center to the side scanner in [mm] in negative y-direction
-SideScannerDeltaY = 0
-// Angle between the Platform frame an the side scanner in [rad]
-SideScannerDeltaPhi = 0.0 //-0.04361 // scanner is mounted about -2.5 deg rotated againts rear scanner
-
-
-
-// Position of the wheels steering axis with respect to the platform center (in robot coordinates) in [mm]
-// Wheel1
-Wheel1XPos = 228
-Wheel1YPos = 186
-
-// Wheel2
-Wheel2XPos = -228
-Wheel2YPos = 134
-
-// Wheel3
-Wheel3XPos = -228
-Wheel3YPos = -186
-
-// Wheel4
-Wheel4XPos = 228
-Wheel4YPos = -134
-
-// Height of the scan plain [mm]
-HeightScanPlain = 165
-
-// Radius of the wheels in [mm]
-RadiusWheel = 80
-
-
-// ----------------------------------------------------------------------
-// Constraining Parameters of the implemented motors and drives
-// ----------------------------------------------------------------------
-[DrivePrms]
-
-// Maximum Rotational Rate for the Drive Wheels [rad/s]
-MaxDriveRate = 12.267;
-
-// Maximum Rotational Rate for Steering Motion of the wheels [rad/s]
-MaxSteerRate = 24.4;
-
-// Coupling of Steer and Drive Motors of the Wheels (DriveVelo [rad/s] = SteerVelo [rad/s] * couplingRate)
-// sign gives direction : -0.5 means if direction of wheel changes by 180° position of drive wheel changes by -90°
-Wheel1SteerDriveCoupling = 0.0;
-Wheel2SteerDriveCoupling = 0.0;
-Wheel3SteerDriveCoupling = 0.0;
-Wheel4SteerDriveCoupling = 0.0;
-
-// Orientation of Wheels after beeing homed
-// in Degrees (Double-Value)
-Wheel1NeutralPosition = -180.0;
-Wheel2NeutralPosition = -180.0;
-Wheel3NeutralPosition = 0.0;
-Wheel4NeutralPosition = 0.0;
-
-HomingVelocityRadS = -1.0
-
-
-// ----------------------------------------------------------------------
-// Configuration of the platform position after startup
-// ----------------------------------------------------------------------
-[Startup]
-// Load map on start up
-LoadMapOnStartup = true
-
-// Load roadmap on start up
-LoadRoadmapOnStartup = true
-
-// Load program on start up
-LoadProgramOnStartup = true
-
-// Init platform on start up
-InitPlatformOnStartup = true
-
-//Navigation Mode on start up
-// 0 - navigation on map data
-// 1 - navigation on map collection data (navigation with submaps)
-NavigationMode = 0
-
-// Selftest enabled?
-SelftestOnStartup = false
-
-// Position for selftest
-SelftestPosX = -10000
-SelftestPosY = -22000
-SelftestPosA = 3.14
-
-// Start program on start up
-StartProgramOnStartup = false
-
-// Load startup position from file
-LoadStartupPosFromFile = true
-
-// Interval in sec. to write robot position to startup file (0.05 .. n).
-// -1 means do not write position cyclically (only when shutting down the program)
-IntervalWritePosS = -1
-
-
-
-// ----------------------------------------------------------------------
-// Configuration of the shutdown procedure
-// ----------------------------------------------------------------------
-[Shutdown]
-// Shutdown position
-ShutdownPosX = -11500
-ShutdownPosY = -23000
-ShutdownPosA = 3.14
-
-SwitchOffAtShutdown = false;
-
-// ----------------------------------------------------------------------
-// Configuration relating the simulation
-// ----------------------------------------------------------------------
-[Simulation]
-
-// Enables simulation of the platform
-SimuEnable = false
-
-// True: Online simulation is active.
-// False: Post processing. The sensor data is read from a log file
-SimuModeOnlineEnabled = true
-
-// Enables the logging of all sensor datas for post processing
-LogForPostProcessEnabled = true
-
-// Enables 3D-navigation.
-Nav3DEnabled = false
-
-// moveable obstacles in simulation
-MouseObstaclesEnabled = false
-
-// random obstacles in simulation
-RndObstaclesEnabled = false
-
-// ----------------------------------------------------------------------
-// Selection of the hardware components
-// ----------------------------------------------------------------------
-[Config]
-
-// 1: IOBoard is available, 0: no IOBoard
-IOBoard = 0
-
-// 1: USBoard is available. 0: No IO-board
-USBoard = 0
-
-// 1: GyroBoard is available, 0: no Gyroboard
-GyroBoard = 0
-
-// 1: RadarBoard is available, 0: no Radarboard
-RadarBoard = 0
-
-// 1: RelayBoard is available, 0: no Relayboard
-RelayBoard = 1
-RelayBoardCom = "/dev/ttyUSB2";
-
-//cpc-pk: This is necessary to have configurations like COB3_5 with less wheels
-NumberOfMotors = 8;
-NumberOfWheels = 4;
-
-// 0: no motor
-// 1: motor of the type neo
-// 2: motor of the type ham
-Wheel1DriveMotor = 2;
-Wheel1SteerMotor = 2;
-Wheel2DriveMotor = 2;
-Wheel2SteerMotor = 2;
-Wheel3DriveMotor = 2;
-Wheel3SteerMotor = 2;
-Wheel4DriveMotor = 2;
-Wheel4SteerMotor = 2;
-
-// 1: drive for moving a head is available. 0: no drive
-HeadDrive = 0
-HeadDriveDegToInc = 144.44 // 26 * 2000 / 360
-HeadDrivePosOffsetDeg = 156;
-HeadDriveCom = "COM1" // Linux: "/dev/ttyS0";
-
-// 1: text to speech prozessor/sound output is available. 0: no sounds
-TextToSpeech = 0
-
-// Socket port listining for a GUI application
-SockPortToPltfGUI = 10000
-
-// Socket port listining for an application
-SockPortToPltfApp = 10002
-
-// Buffer length for can communication
-GenericBufferLen = 512
-
-// Platform hardware type
-// 0: neobotix platform
-// 1: care-o-bot platform
-// 2: mimro platform
-// 3: care-o-bot 3 platform (omnidirectional)
-PltfHardwareType = 3
-
-// ----------------------------------------------------------------------
-// Configuration of the thread cycle times in [s]
-// ----------------------------------------------------------------------
-[Thread]
-
-ThrMotionCycleTimeS = 0.1 //0.035 //0.03
-ThrAppCycleTimeS = 0.3
-ThrComGUICycleTimeS = 0.1
-ThrComMobileArmCycleTimeS = 0.1
-ThrPlannerCycleTimeS = 0.1
-ThrLocalizationCycleTimeS = 0.2
-ThrUCarrCycleTimeS = 0.02 //0.035
-UseThreadSynchronization = true // Use thread synchronization between communication and motion threads.
-
-// true sets the prioritiy of ThreadMotionControl very low. Use only for debugging.
-// false: default
-LowThreadPriorityEnabled = false
-
-// ----------------------------------------------------------------------
-// Configuration of the scanner
-// ----------------------------------------------------------------------
-[Scanner]
-
-// true: front scanner is available
-ScannerFront = true
-
-// Type of the front scanner
-// 0: No scanner
-// 1: Sick LMS
-// 2: Sick S3000
-// 3: Sick S300
-// 4: Hokuyo URG LX04
-// 5: Dummy scanner
-ScannerFrontType = 3
-
-// ScanRate determines the cycle time for reading
-// data from scanner (attention: effective Time
-// should be greater than 100ms)
-// effectiveTime = ThrMotionCycleTimeS * ScanRate
-ScanRate = 2;
-
-// Device name for front scanner
-// In windows: "COMX": in windows
-// In linux:
-// "/dev/ttyS0" (COM1)
-// "/dev/ttyS1" (COM2)
-// "/dev/ttyUSB0" (COM3)
-// "/dev/ttyUSB1" (COM4)
-// "/dev/ttyUSB2" (COM5)
-DeviceNameScannerFront = "/dev/ttyUSB0"
-
-
-// true: rear scanner is available
-ScannerRear = true
-
-// Type of the rear scanner
-// 0: No scanner
-// 1: Sick LMS
-// 2: Sick S3000
-// 3: Sick S300
-// 4: Hokuyo URG LX04
-// 5: Dummy scanner
-ScannerRearType = 3
-
-// Device name for rear scanner
-DeviceNameScannerRear = "/dev/ttyUSB1"
-
-// Is the scanner build in upside down?
-ScannerUpsideDown = true
-
-// true: side scanner is available
-ScannerSide = true
-
-// Type of the side scanner
-// 0: No scanner
-// 1: Sick LMS
-// 2: Sick S3000
-// 3: Sick S300
-// 4: Hokuyo URG LX04
-// 5: Dummy scanner
-ScannerSideType = 4
-
-// Device name for side scanner
-DeviceNameScannerSide = "/dev/ttyACM0"
-
-// Division of the scanner field
-StartSideLeftField = 20 //50
-EndSideLeftField = 220 //225
-StartSideMainField = 220 //225
-EndSideMainField = 470
-StartSideRightField = 470
-EndSideRightField = 670 //642 //620 //682 //240
-
-// Type of the serial adapter for connection the scanner
-// 0: MoxaISA card (spezific factor for the baud rate)
-// 1: MoxaPCI card (spezific factor for the baud rate)
-// 2: Care-o-bot card
-// 3: Standard (factor of one for the baud rate)
-TypeSerialCard = 3
-
-// Division of the scanner field
-StartRightField = 115 //110 //0
-EndRightField = 115 //110
-StartMainField = 115 //110
-EndMainField = 426 //431
-StartLeftField = 426 //431
-EndLeftField = 426 //431 //541 //359
-
-
-// ----------------------------------------------------------------------
-// Configuration of the collision avoidance
-// ----------------------------------------------------------------------
-[Collision]
-
-// for omnidirectional Planner (PlannerCellDec, PlannerBand, PlannerPRM)
-// Minimum distance to an obstacle in x-Direction of the robot in [mm]
-PltfLengthDistMM = 50.0;
-
-// Minimum distance to an obstacle in y-Direction of the robot in [mm]
-PltfWidthDistMM = 50.0;
-// end for omnidirectional Planner
-
-// Minimum distance to an obstacle in [mm]
-MinDistMM = 450.0;
-
-// Maximum deceleration of the platform in front of an obstacle [mm/s*s]
-MaxDecelMMS = 80.0;
-
-// Obstacles in a greater distance have no effect to the velocity [mm]
-MaxReactDistMM = 2000.0;
-
-// Enables low barrier detection
-LowBarrierDetectEnabled = false
-
-// Enables collision detection with ultrasonic sensors
-CollisionUSEnabled = false
-
-// number of US sensors used for collision detection
-NumUS = 0
-
-// Enables collision detection with infrared sensors
-CollisionInfraEnabled = false
-
-// Enables backward move in front of a very close obstacle
-BwdMoveEnabled = false
-
-// Maximal depth of a gap for crossing [mm]
-MaxGapDepth = 20
-
-// Maximal height of a low barrier [mm]
-MaxBarrierHeight = 20
-
-
-// ----------------------------------------------------------------------
-// Miscellaneous parameters
-// ----------------------------------------------------------------------
-[Misc]
-
-// Watchdog time in [s]. After the watchdog time has expired the velocity is set to zero.
-// The watchdog is only active in the velocity mode.
-CmdMoveVelWatchdogTimeS = 0.6
-
-// Default configuration of the planning in the automatic mode
-DefaultPlanningEnabled = true
-
-// Enables writing measured and commanded values to log file for creating time plots.
-LogOfTimePlotEnabled = false
-
-// Enables interpolation from the current position, if the position error is too large.
-LostTrackEnabled = true
-
-// Enables stopping, if the position error is too large. In the mode planning an new path will be planed.
-StopOnLostTrackEnabled = false
-
-// Host to Send Localizationdata
-LocalizationDataHost = "129.233.125.145"
-
-// Port to send Localizationdata
-LocalizationDataPort = 1424
-
-// Host to Send SyncMM Data
-SyncMMDataHost = "127.0.0.1"
-
-// Port to send SyncMM data
-SyncMMDataSendPort = 1401
-
-// Port to receive SyncMM data
-SyncMMDataReceivePort = 1405
-
-
-// ----------------------------------------------------------------------
-// Configuration of the planner
-// ----------------------------------------------------------------------
-[Planner]
-
-// Enables the local planner for path modification
-BandEnable = true
-
-// Weight for the objective function of the local planner
-BandWeightLen= 0.3 //1.0e-3
-
-// Weight for the objective function of the local planner
-BandWeightCurv= 0.5e5
-
-// Number of iterations for minimizing the objective function of the local planner
-BandNumIterations = 5
-
-// Optimization parameter
-BandSearchLenMM = 1000.0
-
-// Optimizatin parameter
-BandSearchStepMM = 10.0
-
-// Update rate of the local planner
-BandUpdateRateS = 0.2
-
-// Tolerance of the objective value
-BandObjValTol = 2.0
-
-// Distance of two sample points of the path
-BandSampleDistMM = 300
-
-// Time to wait in front of an obstacle before starting global planning
-CollisionWaitTimeS = 1
-
-//use omnidirectional planning algorithm
-UseOmnidirectionalPlanner = true
-
-// ----------------------------------------------------------------------
-// File names
-// ----------------------------------------------------------------------
-[Files]
-
-// File name of the map stored on the platform
-FileNameMap = "Platform/Map/andersrum.map"
-
-// File name of the map collection stored on the platform
-FileNameMapCollection = "Platform/Mapcollection/PltfMap.mc"
-
-// File name of the roadmap stord on the platform
-FileNameRoadmap = "Platform/Roadmap/PltfRoadmap.rm"
-
-// File name of the program on the platform
-FileNameProgram = "Platform/Program/PltfProgram.prog"
-
-// Sound to be played at startup
-FileNameStartSound = "Start.wav"
-
-// ----------------------------------------------------------------------
-// Configuration of the localization
-// ----------------------------------------------------------------------
-[Localization]
-
-// Method of the localization
-// 0: DeadReckoning
-// 1: Reflector
-// 2: Line segments
-// 3: Hypotheses reflector
-// 4: Hypotheses line segments
-// 5: Reflector and Line
-// 6: Slam reflector version 1
-// 7: Slam segments version 1
-// 8: localize relative
-// 9: 3D slam
-// 10: edit slam segment
-// 11: slam grid map
-// 12: graph slam segments
-// 13: hypo slam segments
-// 14: edit scan map
-// 15: global localization with segments
-// 16: hypo slam general feature
-// 17: global localization with general feature
-// 18: graph slam
-// 19: Robust localization with general feature
-// 20: Global localization with general feature second version
-// Its recommended to use the mode 5. The other modes are under development.
-LocalizationMode = 5
-
-
-// Method for mapping
-// 0: Disabled
-// 1: Reflector
-// 2: Line segments
-// 3: Lines and reflectors
-// The mapping modes are under development.
-MappingMode = 0
-
-// Initial values of the diagonal elements in the covariance matrix
-// [mm]
-ErrX= 1000.0
-// [mm]
-ErrY= 1000.0
-// [deg]
-ErrADeg= 0.5
-
-// Minimum values of the dialog elements in the covariance matrix
-// Used to avoid freezing.
-// [mm]
-MinErrX = 1.0
-// [mm]
-MinErrY = 1.0
-// [deg]
-MinErrADeg= 0.2
-
-// Error of dead reckoning
-// [6.2 MM per sqrt(MM)] = [0.2 m per sqrt(m)] groth in robot forward direction
-ErrXPerMM = 1.2
-// [1.55 MM per sqrt(MM)] = [0.05 m per sqrt(m)] growth in robot sideways direction
-ErrYPerMM = 0.55
-// gyro drift in degree per hour
-ErrADegPerH= 5
-
-// Measurement covariance of the laser scan [mm*mm]
-MeasCovLen = 10
-
-// Enables gyro for localization
-// 0: do not use gyro for localization
-// 1: use gyro with error model for error compensation
-// 2: use gyro without error compensation
-LocWithGyroMode = 0
-
-// Enables additional smoothing filter
-LocSmoothFilterEnabled = false
-
-// Distance of the reference frames while slam [mm]
-SlamRefFrmDist = 1500
-
-// Size of a submap while slam. [mm]
-// The submap is a quadrat. The radius of the interier circle is given.
-SlamSubmapSize = 20000
-
-// A feature is removed from a local map after the robot moved
-// a given distance [mm]
-MaxTravelDistForDelFeat = 10000
-
-// The local map is matched with the global map after the robot moved
-// the given distance [mm]
-TravelDistForGlobalLoc = 2000
-
-// Minimum significance of a match for a confidence check.
-MinSigOfMatchForConf = 0.95
-
-// Maximum measure distance for the scanner [mm]
-MaxMeasDist = 20000
-
-// Maximum measure distance for the scanner [mm]
-MaxSideMeasDist = 20000
-
-// Selection of the features used for localization and mapping
-
-// Enables segment features
-FeatSegEnabled = true
-
-// Enables reflector features
-FeatReflEnabled = true
-
-// Enables small cluster features
-FeatSmallClusterEnabled = true
-
-// Enables circle features
-FeatCircleEnabled = true
-
-// Linear error model for dead reckoning
-// corr_delta_trans = a0 * delta_trans + a1 * delta_ang
-// corr_delta_ang = a2 * delta_trans + a3 * delta ang
-DeadReckErrModelEnabled = false
-DeadReckErrModelA0 = 0.987175
-DeadReckErrModelA1 = -1.81456
-DeadReckErrModelA2 = 7.89e-6
-DeadReckErrModelA3 = 0.99629
-
-// Association gates for segments
-AssSegMaxDist = 100
-AssSegMaxAng = 0.5
-
-// Association gate for reflector
-AssReflMaxDist = 100
-
-// Association gate for small cluster
-AssSmallClusterMaxDist = 100
-
-// Association gate for circle
-AssCircleMaxDist = 100
-
-// Maximum change of the robot pose while global localization
-MaxRobJumpOnGlobalLocDist = 300
-MaxRobJumpOnGlobalLocAng = 0.2
-
-// Circle fit parameters
-CircleFitMinNumPoints = 15
-CircleFitFracObserved = 0.4
-CircleFitMaxVarianz = 100
-
-// Association to become a validated feature while mapping
-NumAssForBecomeValidatedSeg = 20
-NumAssForBecomeValidatedRefl = 20
-NumAssForBecomeValidatedSmallCluster = 20
-NumAssForBecomeValidatedCircle = 3
-
-// Number of rejection needed to remove a feature from an old map
-NumRejForRemove = 2
-
-
-// ----------------------------------------------------------------------
-// Log
-// ----------------------------------------------------------------------
-[Log]
-
-// Logging of the first debug level to the console enabled
-LogLevel1ConsoleEnabled = true
-
-// Logging of the first debug level to a file enabled
-LogLevel1FileEnabled = false
-
-// Logging of the second debug level to the console enabled
-LogLevel2ConsoleEnabled = true
-
-// Logging of the second debug level to a file enabled
-LogLevel2FileEnabled = false
-
-// Logging of the user program to the console enabled
-LogProgConsoleEnabled = true
-
-// Logging of the user program to a file enabled
-LogProgFileEnabled = false
-
-// Logging of localization to the console enabled
-LogLocConsoleEnabled = true
-
-// Logging of localization to a file enabled
-LogLocFileEnabled = false
-
-// Logging of measured execution and cycle times
-LogThreadTimesEnabled = false
-
-
-// ----------------------------------------------------------------------
-// Joystick
-// ----------------------------------------------------------------------
-[Joystick]
-
-// Define Joystick Type:
-// 0: None
-// 1: Logitech Rumblepad
-// 2: Sony Playstation Controller Dualshock 3 Sixaxis
-Type = 1
-
-// Define number of Input Device
-// default: 0 = /dev/input/js0
-InputDev = 0
-
-// Mapping of longitudinal velocity to the joystick axis
-AxisLongVel = 1
-
-// Mapping of lateral velocity to the joystick axis
-AxisLatVel = 0
-
-// Mapping of rotation velocity to the joystick axis
-AxisRotVel = 2
-
-// Set maximum allowed translational velocity in mm/s
-VelTransMax = 500 //250 //520
-
-// Set maximum allowed rotational velocity in rad/s
-VelRotMax = 1.0 //0.5 //1.0
-
-// Switch to enable (true) or disable (false) the lowpass of the joystick
-LowPassEnabled = true
-
-// Smoothing-Value of Lowpass in seconds
-SmoothingVal = 0.15
-
-// ----------------------------------------------------------------------
-// GyroLitef
-// ----------------------------------------------------------------------
-[GyroLitef]
-
-// use gyro?
-UseGyro = false
-
-// 0: AUTONOMOUS
-// 1: SW_REQUEST
-CommunicationMode = 0
-
-// 0: DELTA_ANG
-// 1: ACCUMULATED_ANG
-AngleType = 0
-
-ComPort = "/dev/ttyM0"
-//ComPort = "/dev/ttyM8"
-//ComPort = "/dev/ttyUSB0"
-
-Baudrate = 9600
-Multiplier = 1.0
-//Multiplier = 0.9216
-StartAngle = 0.0
-ScalingFactor = 1.0
-MaxAngle = 5.0
-ResetGyroAngle = 600.0
-DriftDegPerHour = 2.6
-GyroCycTime = 0.1
-
-ZeroGyroEnabled = true
-LogDriftRateEnabled = false
-SlideMeanFacForDriftRate = 3.3e-4
-
diff --git a/cob_hardware_config/robots/raw3-3/config/base/PltfIdent.ini b/cob_hardware_config/robots/raw3-3/config/base/PltfIdent.ini
deleted file mode 100644
index d38a0f906..000000000
--- a/cob_hardware_config/robots/raw3-3/config/base/PltfIdent.ini
+++ /dev/null
@@ -1,65 +0,0 @@
-// -----------------------------------------------------------------------------
-// Configuration for Identification and recording data of dynamic platform model
-// -----------------------------------------------------------------------------
-// (Used in IPA/Drivers/UnderCarriage/UndercarriageIdentification.h *.cpp)
-
-
-// This parameters will be used for recording the step function response of the
-// selected motors; In this mode the received CAN-Signals will be saved to a File
-// ATTENTION: =====> Robot will move! <======
-// in Mode IdentSteers, only Steers will move! -> jack up robot!
-[Identification]
-Mode = "Off"; // Off || IdentDrives || IdentSteers
-SpeedRadS = 6; // Amplitude of the step function
-
-
-// This parameters will be used to configure the internal elmo recorder
-// and to perfom some movements of the platform at the beginning
-// CAUTION robot will move without localization
-// Recorded Signals: Steer: Position, Active-Current
-// Drives: Velocity, Active-Current
-[Recorder]
-RecorderActive = false; // Turn on/off
-UseSynch = false; // Synchronize Recording with other PC
-SynchName = "129.233.118.104"; // IP-Adress
-SynchPort = 10007; // UDP-Socket Port (has to be consistent with other PC)
-RecordingGap = 7; // will determin the resolution and the total time recorded
- // Tges = (4096 / NoOfSignals )* 90us * 4 * RecordingGap
- // RecordingGap for Steers will be calculated seperately to match Tges
-
-// Define type of movements according to Method PltfHardwareCoB3::SetVelPltf()
-// Duration: Time how long movement will be performed (in Seconds)
-// All Values are doubles
-[Movement]
-NoOfMovements = 2; // Number of Movements; each Movement has to be defined below
-
-[Movement1]
-VelLongMMS = 0;
-VelLatMMS = 200;
-RotRobRadS = 0;
-DurationS = 3;
-
-[Movement2]
-VelLongMMS = 200;
-VelLatMMS = 0;
-RotRobRadS = 0;
-DurationS = 3;
-
-[Movement3]
-VelLongMMS = 100;
-VelLatMMS = 100;
-RotRobRadS = 0;
-DurationS = 3;
-
-[Movement4]
-VelLongMMS = 0;
-VelLatMMS = 0;
-RotRobRadS = 0;
-DurationS = 3;
-
-[Movement5]
-VelLongMMS = -100;
-VelLatMMS = 0;
-RotRobRadS = 0;
-DurationS = 3;
-
diff --git a/cob_hardware_config/robots/raw3-3/config/cameras/parameters_left.yaml b/cob_hardware_config/robots/raw3-3/config/cameras/parameters_left.yaml
deleted file mode 100644
index da7c327eb..000000000
--- a/cob_hardware_config/robots/raw3-3/config/cameras/parameters_left.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-auto_exposure: True
-exposure_auto_max: 25000
-exposure_auto_target: 40
-exposure: 0.009
-auto_gain: True
-gain_auto_target: 40
-gain: 1
-auto_whitebalance: True
-frame_id: /head_color_camera_l_link
-stream_bytes_per_second: 55000000
-auto_adjust_stream_bytes_per_second: False
-trigger_mode: syncin1
-packet_size: 9000
-trig_rate: 1
-ip_address: 192.168.0.14
diff --git a/cob_hardware_config/robots/raw3-3/config/cameras/parameters_right.yaml b/cob_hardware_config/robots/raw3-3/config/cameras/parameters_right.yaml
deleted file mode 100644
index 01a000d72..000000000
--- a/cob_hardware_config/robots/raw3-3/config/cameras/parameters_right.yaml
+++ /dev/null
@@ -1,14 +0,0 @@
-auto_exposure: True
-exposure_auto_max: 25000
-exposure_auto_target: 40
-exposure: 0.009
-auto_gain: True
-gain_auto_target: 40
-gain: 1
-auto_whitebalance: True
-frame_id: /head_color_camera_r_link
-stream_bytes_per_second: 54000000
-auto_adjust_stream_bytes_per_second: False
-trigger_mode: streaming
-packet_size: 9000
-ip_address: 192.168.0.12
diff --git a/cob_hardware_config/robots/raw3-3/config/pc_monitor_raw3-3-pc1.yaml b/cob_hardware_config/robots/raw3-3/config/pc_monitor_raw3-3-pc1.yaml
index 0fbe33d36..6676b5036 100644
--- a/cob_hardware_config/robots/raw3-3/config/pc_monitor_raw3-3-pc1.yaml
+++ b/cob_hardware_config/robots/raw3-3/config/pc_monitor_raw3-3-pc1.yaml
@@ -1,4 +1,4 @@
check_core_temps: False
check_ipmi_tool: False
enforce_clock_speed: False
-num_cores: 4
+num_cores: 8
diff --git a/cob_hardware_config/robots/raw3-3/config/torso_controller.yaml b/cob_hardware_config/robots/raw3-3/config/torso_controller.yaml
deleted file mode 100644
index 4cda34e19..000000000
--- a/cob_hardware_config/robots/raw3-3/config/torso_controller.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-#all
-joint_names: [head_powerball_bottom_joint, head_powerball_side_joint]
-
-# trajectory controller parameters
-ptp_vel: 1.0 # rad/sec
-ptp_acc: 0.2 # rad/sec^2
-max_error: 0.25 # rad
-overlap_time: 0.4
-frequency: 68
-operation_mode: velocity
-
diff --git a/cob_hardware_config/robots/raw3-3/config/torso_driver.yaml b/cob_hardware_config/robots/raw3-3/config/torso_driver.yaml
deleted file mode 100644
index 6b8b0c588..000000000
--- a/cob_hardware_config/robots/raw3-3/config/torso_driver.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-device: /dev/pcan1
-baudrate: 500K
-sync_interval: 10
-chains: ["torso_controller"]
-torso_controller:
- joint_names: [head_powerball_bottom_joint, head_powerball_side_joint]
- motor_direction: [1, 1]
- module_ids: [7, 8]
-