Recent changes to RobotModels

RobotModels modified by Dominik Muth

Dominik Muth — Wed, 04 Mar 2015 11:27:27 -0000

--- v53
+++ v54
@@ -131,9 +131,6 @@
         </RobotNode>

         <RobotNode name="joint 3">
-          <Transform>
-            <Translation x="0" y="0" z="0"/>
-          </Transform>
           <Joint type="revolute">
             <Axis x="1" y="0" z="0"/>
           </Joint>
@@ -401,9 +398,6 @@
            </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>

RobotModels modified by Dominik Muth

Dominik Muth — Wed, 04 Mar 2015 11:24:11 -0000

--- v52
+++ v53
@@ -299,7 +299,7 @@
            <Joint type="revolute">
                <Limits unit="degree" lo="-90" hi="45"/>
            </Joint>
-           
+           
            <ChildFromRobot>
                <File importEEF="true">robot_howto7b.xml</File>
            </ChildFromRobot>

RobotModels modified by Dominik Muth

Dominik Muth — Wed, 04 Mar 2015 11:23:35 -0000

--- v51
+++ v52
@@ -294,16 +294,22 @@
 When building complex robot models, usually several parts of the robot can be separated. In order to reflect this fact, robots can be assembled from multiple files. In the following example a robot imports another robot and connects the root node to `Joint1`. Further, you can see how coordinate axis visualizations are enabled and that a `RobotNode` can have multiple children, allowing to build tree-like kinematic structures.

     <Robot Type="robot1" RootNode="Joint1">
-       
+   
        <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>
-           
+           
            <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>

RobotModels modified by Dominik Muth

Dominik Muth — Wed, 04 Mar 2015 11:14:58 -0000

--- v50
+++ v51
@@ -213,75 +213,79 @@
 In the following example a finger is modeled with DH parameters. Additionally to the 3D models, the `CollisionModel` tag is used to specify visualization files that should be used for collision detection. The `CollisionModels` will automatically be used whenever collision detection is performed, hence usually reduced models are used in order to speed up the collision detection. If the visualization models should be used for collision detection as well you can use the `<UseAsCollisionModel/>` tag within a `<VisualizationModel>` definition, in order to avoid loading the 3D model twice. Further, bounding boxes can be automatically created to be used as `CollisionModels`. Therefore you have to use the attribute `boundingbox="true"` within the `CollisionModel's` `File` tag.

     <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="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>
-    
+        
+      <RobotNode name="root">
+        <Child name="Finger Joint1"/>
+      </RobotNode>
+      
+      <RobotNode name="Finger Joint1">
+        <Joint type="revolute">
+          <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">
+        <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">
+          <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">
+        <Transform>
+          <DH a="25.9" d="0" theta="0" alpha="0" units="degree"/>
+        </Transform>
+        <Joint type="revolute">
+          <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">
+        <Transform>
+          <DH a="22" d="0" theta="0" alpha="0" units="degree"/>
+        </Transform>
+        <Joint type="revolute">
+          <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>

 [[img src=Tutorial6a.png width=50%]][[img src=Tutorial6b.png width=50%]]

RobotModels modified by Dominik Muth

Dominik Muth — Wed, 04 Mar 2015 11:03:31 -0000

--- v49
+++ v50
@@ -151,39 +151,46 @@
 A joint can also be definied with `Denavit Hartenberg` paramters. Therefore the `DH` tag with the two translational attributes `a`, `d` and with both rotational attributes `alpha` and `theta` can be used. Please note that you have to specify the units in which the rotation is given (`degree` or `radian`). Further, the `Limits` tag is used to specify the lower and upper joint limits.

     <Robot Type="DemoRobot" RootNode="root">
-        
-        <RobotNode name="root">
-        <Child name="joint 1"/>
-        </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="root">
+           <Child name="joint 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">
+           <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="node 1">
-           <Visualization>
-            <File type="Inventor">iv/ball.iv</File>
-       </Visualization>
-       <Child name="joint 2"/>
-        </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="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="node 2">
+           <Transform>
+               <DH a="0" d="500" alpha="90" theta="0" units="degree"/>
+           </Transform>
+       </RobotNode>
     </Robot>

@@ -489,53 +496,53 @@
     * The `<UseAsCollisionModel/>` tag ensures that the visualization model is used as a collision model. 
   * A `ManipulationObject` is basically a 3d object with predefined grasping information. These objects can also be positioned via the `GlobalPose` tag. 

-    <Scene name="Armar3Scene">
-    
-        <Robot name="Armar3" initConfig="start">
-            <File>robots/ArmarIII/ArmarIII.xml</File>
-            <Configuration name="start">
-                <Node name="Shoulder 1 L" unit="radian" value="-0.85"/>
-                <Node name="Shoulder 2 L" unit="radian" value="-0.8"/>
-                <Node name="Upperarm L" unit="radian" value="-0.85"/>
-                <Node name="Shoulder 1 R" unit="radian" value="-0.85"/>
-                <Node name="Shoulder 2 R" unit="radian" value="0.8"/>
-                <Node name="Upperarm R" unit="radian" value="0.85"/>
-            </Configuration>
-            <GlobalPose>
-                <Transform>
-                    <Translation x="1000" y="0" z="0"/>
-                </Transform>
-            </GlobalPose>
-        </Robot>
-    
-        <Robot name="Armar3b">
-            <File>robots/ArmarIII/ArmarIII.xml</File>          
-        </Robot>
-    
-        <Obstacle name="Box">
-            <Visualization>
-                <File type="Inventor">objects/iv/box1000x500x300.iv</File>
-                <UseAsCollisionModel/>
-            </Visualization>
-            <GlobalPose>
-                <Transform>
-                    <Translation x="9000" y="1500" z="150"/>
-                    <rollpitchyaw units="degree" roll="0" pitch="0" yaw="90"/>
-                </Transform>
-            </GlobalPose>
-        </Obstacle>
-    
-        <ManipulationObject name="Plate">
-            <File>objects/plate.xml</File>    
-            <GlobalPose>
-                <Transform>
-                    <Translation x="-250" y="0" z="600"/>
-                    <rollpitchyaw units="degree" roll="90" pitch="0" yaw="90"/>
-                </Transform>
-            </GlobalPose>
-        </ManipulationObject>
-    
-    </Scene>
+        <Scene name="Armar3Scene">
+    
+            <Robot name="Armar3" initConfig="start">
+                <File>robots/ArmarIII/ArmarIII.xml</File>
+                <Configuration name="start">
+                    <Node name="Shoulder 1 L" unit="radian" value="-0.85"/>
+                    <Node name="Shoulder 2 L" unit="radian" value="-0.8"/>
+                    <Node name="Upperarm L" unit="radian" value="-0.85"/>
+                    <Node name="Shoulder 1 R" unit="radian" value="-0.85"/>
+                    <Node name="Shoulder 2 R" unit="radian" value="0.8"/>
+                    <Node name="Upperarm R" unit="radian" value="0.85"/>
+                </Configuration>
+                <GlobalPose>
+                    <Transform>
+                        <Translation x="1000" y="0" z="0"/>
+                    </Transform>
+                </GlobalPose>
+            </Robot>
+        
+            <Robot name="Armar3b">
+                <File>robots/ArmarIII/ArmarIII.xml</File>          
+            </Robot>
+        
+            <Obstacle name="Box">
+                <Visualization>
+                    <File type="Inventor">objects/iv/box1000x500x300.iv</File>
+                    <UseAsCollisionModel/>
+                </Visualization>
+                <GlobalPose>
+                    <Transform>
+                        <Translation x="9000" y="1500" z="150"/>
+                        <rollpitchyaw units="degree" roll="0" pitch="0" yaw="90"/>
+                    </Transform>
+                </GlobalPose>
+            </Obstacle>
+        
+            <ManipulationObject name="Plate">
+                <File>objects/plate.xml</File>    
+                <GlobalPose>
+                    <Transform>
+                        <Translation x="-250" y="0" z="600"/>
+                        <rollpitchyaw units="degree" roll="90" pitch="0" yaw="90"/>
+                    </Transform>
+                </GlobalPose>
+            </ManipulationObject>
+        
+        </Scene>

 [[img src=Tutorial10.png width=50%]]

RobotModels modified by Dominik Muth

Dominik Muth — Wed, 04 Mar 2015 10:36:47 -0000

--- v48
+++ v49
@@ -132,7 +132,7 @@

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

RobotModels modified by Valerij Wittenbeck

Valerij Wittenbeck — Wed, 02 Jul 2014 10:42:58 -0000

--- v47
+++ v48
@@ -78,7 +78,7 @@
         

-[[img src=Tutorial3a.png width=49%]] [[img src=Tutorial3b.png width=49%]] 
+[[img src=Tutorial3a.png width=50%]][[img src=Tutorial3b.png width=50%]] 

 # Kinematic Chains

@@ -144,7 +144,7 @@
     

-[[img src=Tutorial4a.png width=49%]] [[img src=Tutorial4b.png width=49%]] 
+[[img src=Tutorial4a.png width=50%]][[img src=Tutorial4b.png width=50%]] 

 # Denavit-Hartenberg Parameters

@@ -190,7 +190,7 @@

-[[img src=Tutorial5a.png width=49%]] [[img src=Tutorial5b.png width=49%]] 
+[[img src=Tutorial5a.png width=50%]][[img src=Tutorial5b.png width=50%]] 

 # Coordinate Systems

@@ -276,7 +276,7 @@
     

-[[img src=Tutorial6a.png width=49%]] [[img src=Tutorial6b.png width=49%]] 
+[[img src=Tutorial6a.png width=50%]][[img src=Tutorial6b.png width=50%]] 

 # Multiple Files

@@ -328,7 +328,7 @@
     

-[[img src=Tutorial7.png width=49%]] [[img src=Tutorial7b.png width=49%]] 
+[[img src=Tutorial7.png width=50%]][[img src=Tutorial7b.png width=50%]] 

 # Robot Node Sets

@@ -414,7 +414,7 @@
         

-[[img src=Tutorial8.png width=49%]] [[img src=Tutorial8b.png width=49%]] 
+[[img src=Tutorial8.png width=50%]][[img src=Tutorial8b.png width=50%]] 

 # End Effector Definitions

@@ -469,8 +469,8 @@
         

-[[img src=Tutorial9.png width=49%]][[img src=Tutorial9b.png width=49%]] 
-[[img src=Tutorial9c.png width=49%]] 
+[[img src=Tutorial9.png width=50%]][[img src=Tutorial9b.png width=50%]] 
+[[img src=Tutorial9c.png width=50%]] 

 # Objects and Scenes

@@ -538,4 +538,4 @@
     

-[[img src=Tutorial10.png width=100%]] 
+[[img src=Tutorial10.png width=50%]]

RobotModels modified by Valerij Wittenbeck

Valerij Wittenbeck — Wed, 02 Jul 2014 10:39:05 -0000

--- v46
+++ v47
@@ -190,7 +190,7 @@

-[[img src=Tutorial5a.png width=49]] [[img src=Tutorial5b.png width=49%]] 
+[[img src=Tutorial5a.png width=49%]] [[img src=Tutorial5b.png width=49%]] 

 # Coordinate Systems

@@ -469,8 +469,7 @@
         

-[[img src=Tutorial9.png width=49%]] 
-[[img src=Tutorial9b.png width=49%]] 
+[[img src=Tutorial9.png width=49%]][[img src=Tutorial9b.png width=49%]] 
 [[img src=Tutorial9c.png width=49%]] 

 # Objects and Scenes

RobotModels modified by Valerij Wittenbeck

Valerij Wittenbeck — Wed, 02 Jul 2014 10:37:25 -0000

--- v45
+++ v46
@@ -16,7 +16,7 @@
     

-[[img src=Tutorial1.png width=100%]] 
+[[img src=Tutorial1.png width=50%]] 

 # Visualizations

@@ -48,7 +48,7 @@
     }

-[[img src=Tutorial2.png width=100%]] 
+[[img src=Tutorial2.png width=50%]] 

 # Joints

@@ -78,7 +78,7 @@
         

-[[img src=Tutorial3a.png width=100%]] [[img src=Tutorial3b.png width=100%]] 
+[[img src=Tutorial3a.png width=49%]] [[img src=Tutorial3b.png width=49%]] 

 # Kinematic Chains

@@ -144,7 +144,7 @@
     

-[[img src=Tutorial4a.png width=100%]] [[img src=Tutorial4b.png width=100%]] 
+[[img src=Tutorial4a.png width=49%]] [[img src=Tutorial4b.png width=49%]] 

 # Denavit-Hartenberg Parameters

@@ -190,7 +190,7 @@

-[[img src=Tutorial5a.png width=100%]] [[img src=Tutorial5b.png width=100%]] 
+[[img src=Tutorial5a.png width=49]] [[img src=Tutorial5b.png width=49%]] 

 # Coordinate Systems

@@ -276,7 +276,7 @@
     

-[[img src=Tutorial6a.png width=100%]] [[img src=Tutorial6b.png width=100%]] 
+[[img src=Tutorial6a.png width=49%]] [[img src=Tutorial6b.png width=49%]] 

 # Multiple Files

@@ -328,9 +328,7 @@
     

-[[img src=Tutorial7.png width=100%]] 
-
-[[img src=Tutorial7b.png width=100%]] 
+[[img src=Tutorial7.png width=49%]] [[img src=Tutorial7b.png width=49%]] 

 # Robot Node Sets

@@ -416,9 +414,7 @@
         

-[[img src=Tutorial8.png width=100%]] 
-
-[[img src=Tutorial8b.png width=100%]] 
+[[img src=Tutorial8.png width=49%]] [[img src=Tutorial8b.png width=49%]] 

 # End Effector Definitions

@@ -473,11 +469,9 @@
         

-[[img src=Tutorial9.png width=100%]] 
-
-[[img src=Tutorial9b.png width=100%]] 
-
-[[img src=Tutorial9c.png width=100%]] 
+[[img src=Tutorial9.png width=49%]] 
+[[img src=Tutorial9b.png width=49%]] 
+[[img src=Tutorial9c.png width=49%]] 

 # Objects and Scenes

@@ -546,8 +540,3 @@

 [[img src=Tutorial10.png width=100%]] 
-
-  
-
-
-

RobotModels modified by Valerij Wittenbeck

Valerij Wittenbeck — Wed, 02 Jul 2014 07:44:36 -0000

--- v44
+++ v45
@@ -1,4 +1,4 @@
-Robot models are defined via XML files, where the kinematic structure as well as additional information (e.g. visualizations, joint definitions or physics information) is stored. A robot consists of so-called _Robot Nodes_, which hold joint definitions and visualization data. After loading, these data structures can be accessed through the _VirtualRobot_ library. 
+Robot models are defined via XML files, where the kinematic structure as well as additional information (e.g. visualizations, joint definitions or physics information) is stored. A robot consists of so-called `Robot Nodes`, which hold joint definitions and visualization data. After loading, these data structures can be accessed through the `VirtualRobot` library.

 In the following examples we start with a simple robot system in order to show how the XML definitions are structured. Later more complex examples are given, where you can see how advanced robot definitions can be created. 

@@ -6,7 +6,7 @@

 # Minimal Example

-This minimal example shows how to define a robot. The file can be found in the doc/tutorial folder of the simox source tree. It can be loaded with _VirtualRobot's_ _RobotViewer_ example (located at VirtualRobot/examples/RobotViewer). 
+This minimal example shows how to define a robot. The file can be found in the doc/tutorial folder of the simox source tree. It can be loaded with `VirtualRobot`'s `RobotViewer` example (located at VirtualRobot/examples/RobotViewer). 

     

@@ -20,7 +20,7 @@

 # Visualizations

-Now we add a visualization. In the following example, the Coin3D/Qt visualization support is used, indicated by the _type="Inventor"_ attribute of the visualization's _File_ tag (in case OpenSceneGraph is used for 3D-model importing and visualization, the attribute would be _type="osg"_). The location of the _joint.iv_ file is given relatively to the location of the XML file, so that the directory _iv_ is searched for the file _joint.iv_. 
+Now we add a visualization. In the following example, the Coin3D/Qt visualization support is used, indicated by the `type="Inventor"` attribute of the visualization's `File` tag (in case OpenSceneGraph is used for 3D-model importing and visualization, the attribute would be `type="osg"`). The location of the `joint.iv` file is given relatively to the location of the XML file, so that the directory `iv` is searched for the file `joint.iv`. 

     

@@ -33,7 +33,7 @@
     

-The _joint.iv_ file defines a cylinder in the OpenInventor format. As specified in OpenInventor, the cylinder is aligned with the y axis and it is 500 mm long. In order to set one side of the cylinder to the (local) origin, the object is moved by 250 mm. 
+The `joint.iv` file defines a cylinder in the OpenInventor format. As specified in OpenInventor, the cylinder is aligned with the y axis and it is 500 mm long. In order to set one side of the cylinder to the (local) origin, the object is moved by 250 mm. 

     #Inventor V2.0 ascii
     Separator {
@@ -52,10 +52,10 @@

 # Joints

-In this example the robot gets a movable joint. The _Joint_ type is specified with the _revolute_ attribute and the rotation axis. The _Transform_ tag specifies a fixed transformation that is applied before the joint. Hence, a _RobotNode_ may imply two transformations: 
-
-  * _Transform_ This fixed transformation is applied to the parent's global pose. 
-  * _Joint_: This transformation depends on the joint value and the resulting pose specifies the location where the visualization is linked to. This final pose of the RobotNode is noted as _GlobalPose_ in Simox. This is the starting point for computing the coordinate systems of all children. 
+In this example the robot gets a movable joint. The `Joint` type is specified with the `revolute` attribute and the rotation axis. The `Transform` tag specifies a fixed transformation that is applied before the joint. Hence, a `RobotNode` may imply two transformations: 
+
+  * `Transform` This fixed transformation is applied to the parent's global pose. 
+  * `Joint`: This transformation depends on the joint value and the resulting pose specifies the location where the visualization is linked to. This final pose of the RobotNode is noted as `GlobalPose` in Simox. This is the starting point for computing the coordinate systems of all children. 

         

@@ -82,7 +82,7 @@

 # Kinematic Chains

-Now we build a longer kinematic chain by connecting multiple _RobotNodes_. Some of the nodes are fixed (no _Joint_ tag), while others can be moved indicated by a __ definition. 
+Now we build a longer kinematic chain by connecting multiple `RobotNodes`. Some of the nodes are fixed (no `Joint` tag), while others can be moved indicated by a `` definition. 

     

@@ -148,7 +148,7 @@

 # Denavit-Hartenberg Parameters

-A joint can also be definied with _Denavit Hartenberg_ paramters. Therefore the _DH_ tag with the two translational attributes _a_, _d_ and with both rotational attributes _alpha_ and _theta_ can be used. Please note that you have to specify the units in which the rotation is given (_degree_ or _radian_). Further, the _Limits_ tag is used to specify the lower and upper joint limits. 
+A joint can also be definied with `Denavit Hartenberg` paramters. Therefore the `DH` tag with the two translational attributes `a`, `d` and with both rotational attributes `alpha` and `theta` can be used. Please note that you have to specify the units in which the rotation is given (`degree` or `radian`). Further, the `Limits` tag is used to specify the lower and upper joint limits. 

     

@@ -194,16 +194,16 @@

 # Coordinate Systems

-A _RobotNode_ may cover several transformations. 
-
-  * _Transform_: This is a fixed transformation which is applied to the initial pose that is passed by the parent of this node. 
-  * _Joint_: This transformation depends on the joint type and the current joint value. In classical robot systems this transformation applies a rotation. 
-
-The _GlobalPose_ of a _RobotNode_ is always the pose that is retrieved after applying all transformations. 
+A `RobotNode` may cover several transformations. 
+
+  * `Transform`: This is a fixed transformation which is applied to the initial pose that is passed by the parent of this node. 
+  * `Joint`: This transformation depends on the joint type and the current joint value. In classical robot systems this transformation applies a rotation. 
+
+The `GlobalPose` of a `RobotNode` is always the pose that is retrieved after applying all transformations. 

 # Collision Models

-In the following example a finger is modeled with DH parameters. Additionally to the 3D models, the _CollisionModel_ tag is used to specify visualization files that should be used for collision detection. The _CollisionModels_ will automatically be used whenever collision detection is performed, hence usually reduced models are used in order to speed up the collision detection. If the visualization models should be used for collision detection as well you can use the `` tag within a `` definition, in order to avoid loading the 3D model twice. Further, bounding boxes can be automatically created to be used as _CollisionModels_. Therefore you have to use the attribute _boundingbox="true"_ within the _CollisionModel's_ _File_ tag. 
+In the following example a finger is modeled with DH parameters. Additionally to the 3D models, the `CollisionModel` tag is used to specify visualization files that should be used for collision detection. The `CollisionModels` will automatically be used whenever collision detection is performed, hence usually reduced models are used in order to speed up the collision detection. If the visualization models should be used for collision detection as well you can use the `` tag within a `` definition, in order to avoid loading the 3D model twice. Further, bounding boxes can be automatically created to be used as `CollisionModels`. Therefore you have to use the attribute `boundingbox="true"` within the `CollisionModel's` `File` tag. 

     

@@ -280,7 +280,7 @@

 # Multiple Files

-When building complex robot models, usually several parts of the robot can be separated. In order to reflect this fact, robots can be assembled from multiple files. In the following example a robot imports another robot and connects the root node to _Joint1_. Further, you can see how coordinate axis visualizations are enabled and that a _RobotNode_ can have multiple children, allowing to build tree-like kinematic structures. 
+When building complex robot models, usually several parts of the robot can be separated. In order to reflect this fact, robots can be assembled from multiple files. In the following example a robot imports another robot and connects the root node to `Joint1`. Further, you can see how coordinate axis visualizations are enabled and that a `RobotNode` can have multiple children, allowing to build tree-like kinematic structures. 

     

@@ -298,7 +298,7 @@
     

-The second file (_robot_howto7b.xml_) looks like this. The file can also be used as a independent robot model. 
+The second file (`robot_howto7b.xml`) looks like this. The file can also be used as a independent robot model. 

     

@@ -334,10 +334,10 @@

 # Robot Node Sets

-In _VirtualRobot_ so-called _RobotNodeSets_ are used to group joints or to define kinematic chains. A robot node set consists of a set of robot nodes and optionally 
+In `VirtualRobot` so-called `RobotNodeSets` are used to group joints or to define kinematic chains. A robot node set consists of a set of robot nodes and optionally 

   * A root node, defining the topmost node which has to be updated in order to internally re-compute the kinematic structure, e.g. when changing joint values. If not given, the root of the robot is used. 
-  * A _RobotNode_ defining the Tool Center Point (TCP) coordinate system. This node specifies a TCP for a kinematic chain. The following example shows how a _RobotNodeSet_ is defined. Please note that the order of the joint definitions is preserved for later use. 
+  * A `RobotNode` defining the Tool Center Point (TCP) coordinate system. This node specifies a TCP for a kinematic chain. The following example shows how a `RobotNodeSet` is defined. Please note that the order of the joint definitions is preserved for later use. 

         

@@ -422,15 +422,15 @@

 # End Effector Definitions

-When complex robot systems, such as humanoid robots, should be modeled a logical definition of their end-effectors is helpful especially in the context of grasp and manipulation planning. In order to access the robot's end-effector conveniently it can be defined in the robot's XML definition. An end-effector is a logical collection of static _RobtoNodes_ and so-called _actors_ which are lists of _RobotNodes_ defining a finger. Please note that the _RobotNodes_ have to be defined within the robot's XML definition. The static parts are not moved when the end-effector is accessed (e.g. closed or opened), whereas the _actors_ are moved. As shown in the example below, _actors_ consist of a set of _RobotNodes_ and for each node several options can be specified: 
-
-  * _name_: The name string of the _RobotNode_. This node must be present in the robot's definition. 
-  * _considerCollisions_: Here the behavior for collision detection can be adjusted. Possible options are 
-    * _all_ (standard): Collisions between the static part and the _RobotNode_ and between other actors and the _RobotNode_ are considered. 
-    * _none_ The node is not considered for collision detection. E.g. when closing the hand an actor will not stop if this node is in collision. 
-    * _actors_: Collisions between the static part of teh hand and the node are not considered, but collisions between other actors and the _RobotNode_ are. 
-    * _static_: Only collisions between this node and the static part of the end-effector are considered, while collision between this node and other actors are not considered. 
-  * _direction_: Here the moving direction can be inverted by setting this value to -1. Further, the relative speed of moving can be adjusted (the standard value is 1). 
+When complex robot systems, such as humanoid robots, should be modeled a logical definition of their end-effectors is helpful especially in the context of grasp and manipulation planning. In order to access the robot's end-effector conveniently it can be defined in the robot's XML definition. An end-effector is a logical collection of static `RobtoNodes` and so-called `actors` which are lists of `RobotNodes` defining a finger. Please note that the `RobotNodes` have to be defined within the robot's XML definition. The static parts are not moved when the end-effector is accessed (e.g. closed or opened), whereas the `actors` are moved. As shown in the example below, `actors` consist of a set of `RobotNodes` and for each node several options can be specified: 
+
+  * `name`: The name string of the `RobotNode`. This node must be present in the robot's definition. 
+  * `considerCollisions`: Here the behavior for collision detection can be adjusted. Possible options are 
+    * `all` (standard): Collisions between the static part and the `RobotNode` and between other actors and the `RobotNode` are considered. 
+    * `none` The node is not considered for collision detection. E.g. when closing the hand an actor will not stop if this node is in collision. 
+    * `actors`: Collisions between the static part of teh hand and the node are not considered, but collisions between other actors and the `RobotNode` are. 
+    * `static`: Only collisions between this node and the static part of the end-effector are considered, while collision between this node and other actors are not considered. 
+  * `direction`: Here the moving direction can be inverted by setting this value to -1. Further, the relative speed of moving can be adjusted (the standard value is 1). 

         
             ...
@@ -483,18 +483,18 @@

 Scenes can be defined via XML files, allowing to specify a setup for robots and obstacles. Further, configurations can be defined allowing to easily access them later on. The following tags can be used: 

-  * _Robot_: Define a robot with a _name_ and an optional initial configuration _initConfig_. 
-    * The _File_ tag specifies the robot's XML file from which the model should be loaded. 
+  * `Robot`: Define a robot with a `name` and an optional initial configuration `initConfig`. 
+    * The `File` tag specifies the robot's XML file from which the model should be loaded. 
       * Files are searched in all dataPaths which are specified in VirtualRobot::RuntimeEnvironment (initially some simox-related standard data paths are set). 
-      * Optional the attribute _path_ can set to _absolute_ or _relative_, in order to force absolute or relative (w.r.t. the scene file) path names. 
-    * Multiple _Configurations_ can be defined, which can be accessed via their name strings. 
-      * A Configuration is a list of _RobotNodes_ with corresponding joint values. 
-    * A _GlobalPose_ tag encapsulates a _Transfrom_ tag which can be used to position the robot in the scene. 
-  * _Obstacles_ can be loaded from files. Here the same syntax is provided as when setting _Visualization_ tags for a _RobotNode_: 
-    * The _type_ of 3d model must be specified in the _File_ tag. Again the file names are searched in the paths, defined in VirtualRobot::RuntimeEnvironment. Optionally the attributes _ path='absolute' _ or _ path='relative' _ allow to specify absolute or scene-file-relative file names. 
-    * A _GlobalPose_ can be used to position the object. 
+      * Optional the attribute `path` can set to `absolute` or `relative`, in order to force absolute or relative (w.r.t. the scene file) path names. 
+    * Multiple `Configurations` can be defined, which can be accessed via their name strings. 
+      * A Configuration is a list of `RobotNodes` with corresponding joint values. 
+    * A `GlobalPose` tag encapsulates a `Transfrom` tag which can be used to position the robot in the scene. 
+  * `Obstacles` can be loaded from files. Here the same syntax is provided as when setting `Visualization` tags for a `RobotNode`: 
+    * The `type` of 3d model must be specified in the `File` tag. Again the file names are searched in the paths, defined in VirtualRobot::RuntimeEnvironment. Optionally the attributes ` path='absolute' ` or ` path='relative' ` allow to specify absolute or scene-file-relative file names. 
+    * A `GlobalPose` can be used to position the object. 
     * The `` tag ensures that the visualization model is used as a collision model. 
-  * A _ManipulationObject_ is basically a 3d object with predefined grasping information. These objects can also be positioned via the _GlobalPose_ tag. 
+  * A `ManipulationObject` is basically a 3d object with predefined grasping information. These objects can also be positioned via the `GlobalPose` tag.