diff --git a/doc/file_format/Joint.pdf b/doc/file_format/Joint.pdf
index 8e98d72f200847c0f5cbb9e8f5e39b1b71677f2e..474ac3662fb34a67af65c82a273bc0be894534fc 100644
Binary files a/doc/file_format/Joint.pdf and b/doc/file_format/Joint.pdf differ
diff --git a/doc/file_format/Joint_open.pdf b/doc/file_format/Joint_open.pdf
deleted file mode 100644
index ef65b84c75c8e035e670aedea07d3f7f17128b8c..0000000000000000000000000000000000000000
Binary files a/doc/file_format/Joint_open.pdf and /dev/null differ
diff --git a/doc/file_format/RobotNode.pdf b/doc/file_format/RobotNode.pdf
index 0b2b25bbd4fa5d10c47f36ecffd8568ac163400d..d859c1a07f7f960c5730aa26188a11549129f151 100644
Binary files a/doc/file_format/RobotNode.pdf and b/doc/file_format/RobotNode.pdf differ
diff --git a/doc/file_format/Sensor.pdf b/doc/file_format/Sensor.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..3da8c1b5ba72009c197789052306fe091d193c95
Binary files /dev/null and b/doc/file_format/Sensor.pdf differ
diff --git a/doc/tutorial/robot_howto3.xml b/doc/tutorial/robot_howto3.xml
index 49bec834bec07596e4e4f8493790cb5f6d5bad9b..7a827bd4ef3c007fcd95f81df0ac6e8f65a4a8e5 100644
--- a/doc/tutorial/robot_howto3.xml
+++ b/doc/tutorial/robot_howto3.xml
@@ -2,22 +2,20 @@
<Robot Type="DemoRobot" RootNode="root">
- <RobotNode name="root">
+ <RobotNode name="root">
<Child name="joint 1"/>
- </RobotNode>
-
- <RobotNode name="joint 1">
- <Joint type="revolute">
+ </RobotNode>
+
+ <RobotNode name="joint 1">
+ <Transform>
+ <Translation x="0" y="500" z="0"/>
+ </Transform>
+ <Joint type="revolute">
<Axis x="0" y="0" z="1"/>
- <PostJointTransform>
- <Transform>
- <Translation x="0" y="500" z="0"/>
- </Transform>
- </PostJointTransform>
- </Joint>
- <Visualization>
- <File type="Inventor">iv/joint.iv</File>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">iv/joint.iv</File>
</Visualization>
- </RobotNode>
-
+ </RobotNode>
+
</Robot>
diff --git a/doc/tutorial/robot_howto4.xml b/doc/tutorial/robot_howto4.xml
index fdff9f4b3db98173b4bb98fc7ce8fee40de9edc6..311f0fd7fb301c422b6aed9d06344a6839d5700a 100644
--- a/doc/tutorial/robot_howto4.xml
+++ b/doc/tutorial/robot_howto4.xml
@@ -3,64 +3,58 @@
<Robot Type="DemoRobot" RootNode="root">
<RobotNode name="root">
- <Child name="joint 1"/>
+ <Child name="joint 1"/>
</RobotNode>
<RobotNode name="joint 1">
- <Joint type="revolute">
- <Axis x="0" y="0" z="1"/>
- <PostJointTransform>
- <Transform>
- <Translation x="0" y="500" z="0"/>
- </Transform>
- </PostJointTransform>
+ <Joint type="revolute">
+ <Axis x="0" y="0" z="1"/>
</Joint>
- <Visualization>
+ <Visualization>
<File type="Inventor">iv/joint.iv</File>
- </Visualization>
- <Child name="node 1"/>
+ </Visualization>
+ <Child name="node 1"/>
</RobotNode>
- <RobotNode name="node 1">
- <Visualization>
+ <RobotNode name="node 1">
+ <Transform>
+ <Translation x="0" y="500" z="0"/>
+ </Transform>
+ <Visualization>
<File type="Inventor">iv/ball.iv</File>
- </Visualization>
- <Child name="joint 2"/>
+ </Visualization>
+ <Child name="joint 2"/>
</RobotNode>
<RobotNode name="joint 2">
- <Joint type="revolute">
- <Axis x="0" y="1" z="0"/>
- <PostJointTransform>
- <Transform>
- <Translation x="0" y="0" z="500"/>
- </Transform>
- </PostJointTransform>
- </Joint>
- <Visualization>
+ <Joint type="revolute">
+ <Axis x="0" y="1" z="0"/>
+ </Joint>
+ <Visualization>
<File type="Inventor">iv/joint2.iv</File>
- </Visualization>
- <Child name="node 2"/>
+ </Visualization>
+ <Child name="node 2"/>
</RobotNode>
<RobotNode name="node 2">
- <Visualization>
+ <Transform>
+ <Translation x="0" y="0" z="500"/>
+ </Transform>
+ <Visualization>
<File type="Inventor">iv/ball.iv</File>
- </Visualization>
- <Child name="joint 3"/>
+ </Visualization>
+ <Child name="joint 3"/>
</RobotNode>
<RobotNode name="joint 3">
- <Joint type="revolute">
- <Axis x="1" y="0" z="0"/>
- <PostJointTransform>
- <Transform>
- <Translation x="0" y="500" z="0"/>
- </Transform>
- </PostJointTransform>
+ <Transform>
+ <Translation x="0" y="500" z="0"/>
+ </Transform>
+ <Joint type="revolute">
+ <Axis x="1" y="0" z="0"/>
</Joint>
- <Visualization>
+ <Visualization>
<File type="Inventor">iv/joint.iv</File>
- </Visualization>
+ </Visualization>
</RobotNode>
</Robot>
diff --git a/doc/tutorial/robot_howto5.xml b/doc/tutorial/robot_howto5.xml
index 8deb70f9b0ec46e2ce2715a8aa7804f4fafe5513..c2e44c22f60bf578c574ebcdb3565fa2e0ebda5b 100644
--- a/doc/tutorial/robot_howto5.xml
+++ b/doc/tutorial/robot_howto5.xml
@@ -10,28 +10,28 @@
<Joint type="revolute">
<DH a="0" d="500" alpha="-90" theta="0" units="degree"/>
<Limits lo="0" hi="120" units="degree"/>
- </Joint>
+ </Joint>
<Visualization>
- <File type="Inventor">iv/joint2.iv</File>
- </Visualization>
- <Child name="node 1"/>
+ <File type="Inventor">iv/joint2.iv</File>
+ </Visualization>
+ <Child name="node 1"/>
</RobotNode>
<RobotNode name="node 1">
<Visualization>
- <File type="Inventor">iv/ball.iv</File>
- </Visualization>
- <Child name="joint 2"/>
+ <File type="Inventor">iv/ball.iv</File>
+ </Visualization>
+ <Child name="joint 2"/>
</RobotNode>
<RobotNode name="joint 2">
- <Joint type="revolute">
- <DH a="0" d="500" alpha="90" theta="0" units="degree"/>
- <Limits lo="-45" hi="45" units="degree"/>
- </Joint>
- <Visualization>
- <File type="Inventor">iv/joint2.iv</File>
- </Visualization>
+ <Joint type="revolute">
+ <DH a="0" d="500" alpha="90" theta="0" units="degree"/>
+ <Limits lo="-45" hi="45" units="degree"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">iv/joint2.iv</File>
+ </Visualization>
</RobotNode>
</Robot>
diff --git a/doc/tutorial/robot_howto6.xml b/doc/tutorial/robot_howto6.xml
index fe33801e3ccd3dc197b59523ff5f4b8b4071a656..ff377a7720c9297a5c183e92bd154d276b3fddcc 100644
--- a/doc/tutorial/robot_howto6.xml
+++ b/doc/tutorial/robot_howto6.xml
@@ -2,70 +2,70 @@
<Robot Type="DemoRobot" RootNode="root">
- <RobotNode name="root">
- <Child name="Finger Joint1"/>
- </RobotNode>
-
- <RobotNode name="Finger Joint1">
- <Joint type="revolute">
- <DH a="14.8" d="0" theta="0" alpha="90" units="degree"/>
- <Limits unit="degree" lo="-25" hi="25"/>
- </Joint>
- <Visualization enable="true">
- <File type="Inventor">iv/LeftIndexFinger/leftIndexFinger0.iv</File>
- </Visualization>
- <CollisionModel>
- <File type="Inventor">iv/LeftIndexFinger/col_leftIndexFinger0.iv</File>
- </CollisionModel>
- <Child name="BaseToFinger"/>
- </RobotNode>
-
- <RobotNode name="BaseToFinger">
- <Joint type="fixed">
- <DH a="0" d="1.75" theta="0" alpha="0" units="degree"/>
- </Joint>
- <Child name="Finger Joint2"/>
- </RobotNode>
-
- <RobotNode name="Finger Joint2">
- <Joint type="revolute">
- <DH a="25.9" d="0" theta="0" alpha="0" units="degree"/>
- <Limits unit="degree" lo="0" hi="90"/>
- </Joint>
- <Visualization enable="true">
- <File type="Inventor">iv/LeftIndexFinger/leftIndexFinger1.iv</File>
- </Visualization>
- <CollisionModel>
- <File type="Inventor">iv/LeftIndexFinger/col_leftIndexFinger1.iv</File>
- </CollisionModel>
- <Child name="Finger Joint3"/>
- </RobotNode>
-
- <RobotNode name="Finger Joint3">
- <Joint type="revolute">
- <DH a="22" d="0" theta="0" alpha="0" units="degree"/>
- <Limits unit="degree" lo="0" hi="90"/>
- </Joint>
- <Visualization enable="true">
- <File type="Inventor">iv/LeftIndexFinger/leftIndexFinger2.iv</File>
- </Visualization>
- <CollisionModel>
- <File type="Inventor">iv/LeftIndexFinger/col_leftIndexFinger2.iv</File>
- </CollisionModel>
- <Child name="Finger Joint4"/>
- </RobotNode>
+ <RobotNode name="root">
+ <Child name="Finger Joint1"/>
+ </RobotNode>
+
+ <RobotNode name="Finger Joint1">
+ <Joint type="revolute">
+ <DH a="14.8" d="0" theta="0" alpha="90" units="degree"/>
+ <Limits unit="degree" lo="-25" hi="25"/>
+ </Joint>
+ <Visualization enable="true">
+ <File type="Inventor">iv/LeftIndexFinger/leftIndexFinger0.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">iv/LeftIndexFinger/col_leftIndexFinger0.iv</File>
+ </CollisionModel>
+ <Child name="BaseToFinger"/>
+ </RobotNode>
+
+ <RobotNode name="BaseToFinger">
+ <Joint type="fixed">
+ <DH a="0" d="1.75" theta="0" alpha="0" units="degree"/>
+ </Joint>
+ <Child name="Finger Joint2"/>
+ </RobotNode>
+
+ <RobotNode name="Finger Joint2">
+ <Joint type="revolute">
+ <DH a="25.9" d="0" theta="0" alpha="0" units="degree"/>
+ <Limits unit="degree" lo="0" hi="90"/>
+ </Joint>
+ <Visualization enable="true">
+ <File type="Inventor">iv/LeftIndexFinger/leftIndexFinger1.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">iv/LeftIndexFinger/col_leftIndexFinger1.iv</File>
+ </CollisionModel>
+ <Child name="Finger Joint3"/>
+ </RobotNode>
+
+ <RobotNode name="Finger Joint3">
+ <Joint type="revolute">
+ <DH a="22" d="0" theta="0" alpha="0" units="degree"/>
+ <Limits unit="degree" lo="0" hi="90"/>
+ </Joint>
+ <Visualization enable="true">
+ <File type="Inventor">iv/LeftIndexFinger/leftIndexFinger2.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">iv/LeftIndexFinger/col_leftIndexFinger2.iv</File>
+ </CollisionModel>
+ <Child name="Finger Joint4"/>
+ </RobotNode>
- <RobotNode name="Finger Joint4">
- <Joint type="revolute">
- <DH a="0" d="0" theta="0" alpha="0" units="degree"/>
- <Limits unit="degree" lo="0" hi="90"/>
- </Joint>
- <Visualization enable="true">
- <File type="Inventor">iv/LeftIndexFinger/leftIndexFingerTip.iv</File>
- </Visualization>
- <CollisionModel>
- <File type="Inventor">iv/LeftIndexFinger/col_leftIndexFingerTip.iv</File>
- </CollisionModel>
- </RobotNode>
-
+ <RobotNode name="Finger Joint4">
+ <Joint type="revolute">
+ <DH a="0" d="0" theta="0" alpha="0" units="degree"/>
+ <Limits unit="degree" lo="0" hi="90"/>
+ </Joint>
+ <Visualization enable="true">
+ <File type="Inventor">iv/LeftIndexFinger/leftIndexFingerTip.iv</File>
+ </Visualization>
+ <CollisionModel>
+ <File type="Inventor">iv/LeftIndexFinger/col_leftIndexFingerTip.iv</File>
+ </CollisionModel>
+ </RobotNode>
+
</Robot>
diff --git a/doc/tutorial/robot_howto7b.xml b/doc/tutorial/robot_howto7b.xml
index b354c4b3d95f1cd825c2deb704a93b50b8cb97d5..237b5ec02d2f3a52a94cea7534bf622250a046b4 100644
--- a/doc/tutorial/robot_howto7b.xml
+++ b/doc/tutorial/robot_howto7b.xml
@@ -1,35 +1,28 @@
<?xml version="1.0" encoding="UTF-8" ?>
<Robot Type="robot2" RootNode="node1">
-
- <RobotNode name="node1">
- <Child name="node2"/>
- <Child name="node3"/>
- </RobotNode>
-
- <RobotNode name="node2">
- <Joint>
- <PreJointTransform>
- <Transform>
- <Translation x="0" y="500" z="0"/>
- </Transform>
- </PreJointTransform>
- </Joint>
- <Visualization enable="true">
- <CoordinateAxis type="Inventor" enable="true" scaling="1" text="TCP1"/>
- </Visualization>
- </RobotNode>
-
- <RobotNode name="node3">
- <Joint>
- <PreJointTransform>
- <Transform>
- <Translation x="0" y="-500" z="0"/>
- </Transform>
- </PreJointTransform>
- </Joint>
- <Visualization enable="true">
- <CoordinateAxis type="Inventor" enable="true" scaling="1" text="TCP2"/>
- </Visualization>
- </RobotNode>
+
+ <RobotNode name="node1">
+ <Child name="node2"/>
+ <Child name="node3"/>
+ </RobotNode>
+
+ <RobotNode name="node2">
+ <Transform>
+ <Translation x="0" y="500" z="0"/>
+ </Transform>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="true" scaling="1" text="TCP1"/>
+ </Visualization>
+ </RobotNode>
+
+ <RobotNode name="node3">
+ <Transform>
+ <Translation x="0" y="-500" z="0"/>
+ </Transform>
+ <Visualization enable="true">
+ <CoordinateAxis type="Inventor" enable="true" scaling="1" text="TCP2"/>
+ </Visualization>
+ </RobotNode>
+
</Robot>
diff --git a/doc/tutorial/robot_howto8.xml b/doc/tutorial/robot_howto8.xml
index ded7f8cd1ca65cd1a0c5592feed0b7cb59b1ab71..26c83fa7003ee71919d7fe70a15cc196e7187c86 100644
--- a/doc/tutorial/robot_howto8.xml
+++ b/doc/tutorial/robot_howto8.xml
@@ -3,78 +3,75 @@
<Robot Type="DemoRobot" RootNode="root">
<RobotNode name="root">
- <Child name="joint 1"/>
+ <Child name="joint 1"/>
</RobotNode>
<RobotNode name="joint 1">
- <Joint type="revolute">
- <Axis x="0" y="0" z="1"/>
- <PostJointTransform>
- <Transform>
- <Translation x="0" y="500" z="0"/>
- </Transform>
- </PostJointTransform>
- </Joint>
- <Visualization>
- <File type="Inventor">iv/joint.iv</File>
- </Visualization>
- <Child name="node 1"/>
+ <Joint type="revolute">
+ <Axis x="0" y="0" z="1"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">iv/joint.iv</File>
+ </Visualization>
+ <Child name="node 1"/>
</RobotNode>
<RobotNode name="node 1">
- <Visualization>
- <File type="Inventor">iv/ball.iv</File>
- </Visualization>
- <Child name="joint 2"/>
+ <Transform>
+ <Translation x="0" y="500" z="0"/>
+ </Transform>
+ <Visualization>
+ <File type="Inventor">iv/ball.iv</File>
+ </Visualization>
+ <Child name="joint 2"/>
</RobotNode>
<RobotNode name="joint 2">
- <Joint type="revolute">
- <Axis x="0" y="1" z="0"/>
- <PostJointTransform>
- <Transform>
- <Translation x="0" y="0" z="500"/>
- </Transform>
- </PostJointTransform>
- </Joint>
- <Visualization>
- <File type="Inventor">iv/joint2.iv</File>
- </Visualization>
- <Child name="node 2"/>
+ <Joint type="revolute">
+ <Axis x="0" y="1" z="0"/>
+ </Joint>
+ <Visualization>
+ <File type="Inventor">iv/joint2.iv</File>
+ </Visualization>
+ <Child name="node 2"/>
</RobotNode>
<RobotNode name="node 2">
+ <Transform>
+ <Translation x="0" y="0" z="500"/>
+ </Transform>
<Visualization>
- <File type="Inventor">iv/ball.iv</File>
- </Visualization>
- <Child name="joint 3"/>
+ <File type="Inventor">iv/ball.iv</File>
+ </Visualization>
+ <Child name="joint 3"/>
</RobotNode>
<RobotNode name="joint 3">
+ <Transform>
+ <Translation x="0" y="0" z="500"/>
+ </Transform>
<Joint type="revolute">
- <Axis x="1" y="0" z="0"/>
- <PostJointTransform>
- <Transform>
- <Translation x="0" y="500" z="0"/>
- </Transform>
- </PostJointTransform>
- </Joint>
+ <Axis x="1" y="0" z="0"/>
+ </Joint>
<Visualization>
- <File type="Inventor">iv/joint.iv</File>
- </Visualization>
- <Child name="tcp"/>
+ <File type="Inventor">iv/joint.iv</File>
+ </Visualization>
+ <Child name="tcp"/>
</RobotNode>
-
- <RobotNode name="tcp">
+
+ <RobotNode name="tcp">
+ <Transform>
+ <Translation x="0" y="500" z="0"/>
+ </Transform>
<Visualization>
- <File type="Inventor">iv/ball.iv</File>
- </Visualization>
+ <File type="Inventor">iv/ball.iv</File>
+ </Visualization>
</RobotNode>
- <RobotNodeSet name="my kinematic chain" kinematicRoot="joint1" tcp="tcp">
- <Node name="joint 1"/>
- <Node name="joint 2"/>
- <Node name="joint 3"/>
- </RobotNodeSet>
+ <RobotNodeSet name="my kinematic chain" kinematicRoot="joint1" tcp="tcp">
+ <Node name="joint 1"/>
+ <Node name="joint 2"/>
+ <Node name="joint 3"/>
+ </RobotNodeSet>
</Robot>