diff --git a/MotionPlanning/examples/IKRRT/IKRRTWindow.cpp b/MotionPlanning/examples/IKRRT/IKRRTWindow.cpp
index 63eaebeb3358a888e784d9e7466a1ab88fa025b8..c3641c84e7c13995c9af17bafe9050ab9b112430 100644
--- a/MotionPlanning/examples/IKRRT/IKRRTWindow.cpp
+++ b/MotionPlanning/examples/IKRRT/IKRRTWindow.cpp
@@ -122,9 +122,9 @@ void IKRRTWindow::setupUI()
 	m_pExViewer->setBackgroundColor(SbColor(1.0f, 1.0f, 1.0f));
 	m_pExViewer->setAccumulationBuffer(true);
 #ifdef WIN32
-#ifndef _DEBUG
-	m_pExViewer->setAntialiasing(true, 4);
-#endif
+//#ifndef _DEBUG
+	m_pExViewer->setAntialiasing(true, 8);
+//#endif
 #endif
 	m_pExViewer->setGLRenderAction(new SoLineHighlightRenderAction);
 	m_pExViewer->setTransparencyType(SoGLRenderAction::BLEND);
diff --git a/VirtualRobot/data/robots/iCub/iCub.xml b/VirtualRobot/data/robots/iCub/iCub.xml
index 2c9cb56ffd490baacc808d610e6f6169f6a15bd0..b9ccebd5e872d4f47b0f506636a2f75f2da15c13 100644
--- a/VirtualRobot/data/robots/iCub/iCub.xml
+++ b/VirtualRobot/data/robots/iCub/iCub.xml
@@ -11,7 +11,7 @@
 			</PreJointTransform>
 		</Joint>
 		<Visualization enable="true">
-			<CoordinateAxis  type="Inventor" enable="true" scaling="1"/>
+			<CoordinateAxis  type="Inventor" enable="false" scaling="1"/>
 		</Visualization>
 		<Child name="UpperBody"/>
 		<Child name="LowerBody"/>
diff --git a/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp b/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp
index 65cdc1cca79d01856ac59df210c5196c2ed05f2e..c29c7a75a0bf954cfc1a0d45f60ed24a40e09844 100644
--- a/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp
+++ b/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp
@@ -89,9 +89,9 @@ void showRobotWindow::setupUI()
 	m_pExViewer->setBackgroundColor(SbColor(1.0f, 1.0f, 1.0f));
 	m_pExViewer->setAccumulationBuffer(true);
 #ifdef WIN32
-#ifndef _DEBUG
+//#ifndef _DEBUG
 	m_pExViewer->setAntialiasing(true, 4);
-#endif
+//#endif
 #endif
 	m_pExViewer->setGLRenderAction(new SoLineHighlightRenderAction);
 	m_pExViewer->setTransparencyType(SoGLRenderAction::BLEND);
diff --git a/VirtualRobot/examples/reachability/reachabilityScene.cpp b/VirtualRobot/examples/reachability/reachabilityScene.cpp
index 3230d2f613fcde79ad9477bc9dc9d914423e8cfb..ada63960e9557176450bd785b521be86cb36f8dd 100644
--- a/VirtualRobot/examples/reachability/reachabilityScene.cpp
+++ b/VirtualRobot/examples/reachability/reachabilityScene.cpp
@@ -17,6 +17,7 @@
 
 #include "reachabilityWindow.h"
 
+#define ICUB
 //#define AXIS_X
 
 using std::cout;
@@ -27,13 +28,17 @@ int main(int argc, char *argv[])
 	SoDB::init();
 	SoQt::init(argc,argv,"showRobot");
 	cout << " --- START --- " << endl;
-	std::string filenameRob(VR_BASE_DIR "/data/robots/ArmarIII/ArmarIII.xml");
-#ifdef AXIS_X
-	Eigen::Vector3f axisTCP(1.0f,0,0);
+
+	std::string filenameReach;
+#ifdef ICUB
+		std::string filenameRob(VR_BASE_DIR "/data/robots/iCub/iCub.xml");
+		Eigen::Vector3f axisTCP(1.0f,0,0);
+		filenameReach = "reachability/iCub_HipLeftArm.bin";
 #else
-	Eigen::Vector3f axisTCP(0,0,1.0f);
+	std::string filenameRob(VR_BASE_DIR "/data/robots/ArmarIII/ArmarIII.xml");
+	Eigen::Vector3f axisTCP(0,0,1.0f);	
 #endif
-	std::string filenameReach;
+
 
 	VirtualRobot::RuntimeEnvironment::considerKey("robot");
 	VirtualRobot::RuntimeEnvironment::considerKey("reachability");
diff --git a/VirtualRobot/examples/reachability/reachabilityWindow.cpp b/VirtualRobot/examples/reachability/reachabilityWindow.cpp
index 15d444c25b0278c155e13a5459030285a90b8943..b8d30feae169e2da45efbd84254ac8d594e7721e 100644
--- a/VirtualRobot/examples/reachability/reachabilityWindow.cpp
+++ b/VirtualRobot/examples/reachability/reachabilityWindow.cpp
@@ -4,6 +4,7 @@
 #include "VirtualRobot/ReachabilitySpace.h"
 #include "VirtualRobot/XML/RobotIO.h"
 #include "VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h"
+#include <VirtualRobot/RuntimeEnvironment.h>
 
  #include <QFileDialog>
 #include <Eigen/Geometry>
@@ -49,7 +50,8 @@ reachabilityWindow::reachabilityWindow(std::string &sRobotFile, std::string &rea
 
 	if (!reachFile.empty())
 	{
-		loadReachFile(reachFile);
+		if (RuntimeEnvironment::getDataFileAbsolute(reachFile))
+			loadReachFile(reachFile);
 	}
 
 	m_pExViewer->viewAll();
@@ -71,9 +73,9 @@ void reachabilityWindow::setupUI()
 	m_pExViewer->setBackgroundColor(SbColor(1.0f, 1.0f, 1.0f));
 	m_pExViewer->setAccumulationBuffer(true);
 #ifdef WIN32
-#ifndef _DEBUG
-	m_pExViewer->setAntialiasing(true, 4);
-#endif
+//#ifndef _DEBUG
+	m_pExViewer->setAntialiasing(true, 8);
+//#endif
 #endif
 	m_pExViewer->setGLRenderAction(new SoLineHighlightRenderAction);
 	m_pExViewer->setTransparencyType(SoGLRenderAction::BLEND);
diff --git a/doc/images/Armar-III_FullModel.png b/doc/images/Armar-III_FullModel.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdce809bae048e0e2f60fc6f52e9e49bd03d6a5f
Binary files /dev/null and b/doc/images/Armar-III_FullModel.png differ
diff --git a/doc/images/BimanualGraspWrenchSpace4.png b/doc/images/BimanualGraspWrenchSpace4.png
new file mode 100644
index 0000000000000000000000000000000000000000..b88cca0508303d88e13b8470845e176bd2b2ff5c
Binary files /dev/null and b/doc/images/BimanualGraspWrenchSpace4.png differ
diff --git a/doc/images/ContactPointsBox.png b/doc/images/ContactPointsBox.png
new file mode 100644
index 0000000000000000000000000000000000000000..e1605ba0d4a1a5efdaf32172a70957358e963160
Binary files /dev/null and b/doc/images/ContactPointsBox.png differ
diff --git a/doc/images/GraspTable_TwoRobots2.png b/doc/images/GraspTable_TwoRobots2.png
new file mode 100644
index 0000000000000000000000000000000000000000..d053685ff8d63ab701660722504ac0c69ae08a60
Binary files /dev/null and b/doc/images/GraspTable_TwoRobots2.png differ
diff --git a/doc/images/armar.png b/doc/images/armar.png
new file mode 100644
index 0000000000000000000000000000000000000000..048664dc78d8a8329ca882abc9262cf64dc93531
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diff --git a/doc/images/kitchen_full_white.png b/doc/images/kitchen_full_white.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8f83e784a6acd9c7d8def4acd2fe264f515d033
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diff --git a/doc/images/kitchen_handoff1.png b/doc/images/kitchen_handoff1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f09563065e9a41867055c23fb408e40aac276420
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diff --git a/doc/images/rrt_135.png b/doc/images/rrt_135.png
new file mode 100644
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