fixed example xml files of tutorial

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@790 042f3d55-54a8-47e9-b7fb-15903f145c44

doc/tutorial/robot_howto4.xml

@@ -47,9 +47,6 @@
     </RobotNode>
     
     <RobotNode name="joint 3">
-	    <Transform>
-	        <Translation x="0" y="500" z="0"/>
-	    </Transform>
       <Joint type="revolute">
 				<Axis x="1" y="0" z="0"/>
 	    </Joint>

doc/tutorial/robot_howto5.xml

@@ -2,36 +2,44 @@
 
 <Robot Type="DemoRobot" RootNode="root">
     
-    <RobotNode name="root">
+	<RobotNode name="root">
 		<Child name="joint 1"/>
-    </RobotNode>
+	</RobotNode>
     
-    <RobotNode name="joint 1">
-        <Joint type="revolute">
-            <DH a="0" d="500" alpha="-90" theta="0" units="degree"/>
-            <Limits lo="0" hi="120" units="degree"/>
-	      </Joint>
-        <Visualization>
-		        <File type="Inventor">iv/joint2.iv</File>
-		    </Visualization>
-		    <Child name="node 1"/>
-    </RobotNode>
+	<RobotNode name="joint 1">
+		<Joint type="revolute">
+			<Limits lo="0" hi="120" units="degree"/>
+		</Joint>
+		<Visualization>
+			<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"/>
-    </RobotNode>
+	<RobotNode name="node 1">
+		<Transform>
+			<DH a="0" d="500" alpha="-90" theta="0" units="degree"/>
+		</Transform>
+		<Visualization>
+			<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>
-    </RobotNode>
-    
+	<RobotNode name="joint 2">
+		<Joint type="revolute">
+			<Limits lo="-45" hi="45" units="degree"/>
+		</Joint>
+		<Visualization>
+			<File type="Inventor">iv/joint2.iv</File>
+		</Visualization>
+		<Child name="node 2"/>
+	</RobotNode>
+        
+	<RobotNode name="node 2">
+		<Transform>
+			<DH a="0" d="500" alpha="90" theta="0" units="degree"/>
+		</Transform>
+	</RobotNode>
+
 </Robot>

doc/tutorial/robot_howto6.xml

@@ -8,7 +8,6 @@
   
   <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">
@@ -21,15 +20,17 @@
   </RobotNode>
   
   <RobotNode name="BaseToFinger">
-    <Joint type="fixed">
-      <DH a="0" d="1.75" theta="0" alpha="0" units="degree"/>
-    </Joint>
+    <Transform>
+      <DH a="14.8" d="0" theta="0" alpha="90" units="degree"/>
+    </Transform>
     <Child name="Finger Joint2"/>
   </RobotNode>
   
   <RobotNode name="Finger Joint2">
+    <Transform>
+      <DH a="0" d="1.75" theta="0" alpha="0" units="degree"/>
+    </Transform>
     <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">
@@ -42,8 +43,10 @@
   </RobotNode>
   
   <RobotNode name="Finger Joint3">
+    <Transform>
+      <DH a="25.9" d="0" theta="0" alpha="0" units="degree"/>
+    </Transform>
     <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">
@@ -56,8 +59,10 @@
   </RobotNode>
 
   <RobotNode name="Finger Joint4">
+    <Transform>
+      <DH a="22" d="0" theta="0" alpha="0" units="degree"/>
+    </Transform>
     <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">

doc/tutorial/robot_howto7.xml

@@ -5,12 +5,18 @@
 	<RobotNode name="Joint1">
 		<Joint type="revolute">
 			<Limits unit="degree" lo="-90" hi="45"/>
-			<DH a="0" d="500" theta="-30" alpha="0" units="degree"/>
 		</Joint>
 		<!-- Imports the kinematic structure form otherRobot.xml and adds otherRobot's rootnode as a child to this node -->
 		<ChildFromRobot>
 			<File importEEF="true">robot_howto7b.xml</File>
 		</ChildFromRobot>
+		<Child name="node2.1"/>
+	</RobotNode>
+
+	<RobotNode name="node2.1">
+		<Transform>
+			<DH a="0" d="500" theta="-30" alpha="0" units="degree"/>
+		</Transform>
 	</RobotNode>
 
 </Robot>

doc/tutorial/robot_howto8.xml

@@ -47,9 +47,6 @@
     </RobotNode>
     
     <RobotNode name="joint 3">
-        <Transform>
-            <Translation x="0" y="0" z="500"/>
-        </Transform>
         <Joint type="revolute">
           <Axis x="1" y="0" z="0"/>
         </Joint>