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Index: doc/examples/xml/kuka_chain_world.xml
===================================================================
--- doc/examples/xml/kuka_chain_world.xml	(revision 38)
+++ doc/examples/xml/kuka_chain_world.xml	(working copy)
@@ -4,6 +4,32 @@
  <Segment>
   <Frame xsi:type="MatrixFrameType">
    <Matrix xsi:type="BoostMatrixType">
+    <String> [4,4]((1,0,0,-250),(0,1,0,1300),(0,0,1,500),(0,0,0,1)) </String>
+   </Matrix>
+  </Frame>
+  <Joint xsi:type="JointType">
+   <Type>None</Type>
+   <Axis>Z</Axis>
+  </Joint>
+ </Segment>
+
+<!--
+ <Segment>
+  <Frame xsi:type="MatrixFrameType">
+   <Matrix xsi:type="BoostMatrixType">
+    <String> [4,4]((0.70711,0.0711,0,0),(0,0,1,0),(0.70711,-0.70711,0,0),(0,0,0,1)) </String>
+   </Matrix>
+  </Frame>
+  <Joint xsi:type="JointType">
+   <Type>None</Type>
+   <Axis>Z</Axis>
+  </Joint>
+ </Segment>
+-->
+
+ <Segment>
+  <Frame xsi:type="MatrixFrameType">
+   <Matrix xsi:type="BoostMatrixType">
     <String> [4,4]((1,0,0,0),(0,1,0,0),(0,0,1,310),(0,0,0,1)) </String>
    </Matrix>
   </Frame>
Index: doc/examples/xml/kdl_kuka_pos.xml
===================================================================
--- doc/examples/xml/kdl_kuka_pos.xml	(revision 38)
+++ doc/examples/xml/kdl_kuka_pos.xml	(working copy)
@@ -8,7 +8,7 @@
 
 <!DOCTYPE 
   chain [
-   <!ENTITY KukaChain SYSTEM "kuka_chain.xml">
+   <!ENTITY KukaChain SYSTEM "kuka_chain_world.xml">
   ]
 >
 
@@ -21,7 +21,7 @@
 
  <Potential xsi:type="SquarePotentialType">
   <Dimension> 3 </Dimension>
-  <Coefficient> 0.0005 </Coefficient>
+  <Coefficient> 0.000001 </Coefficient>
  </Potential>
 
  <EffectorTransform xsi:type="GenericEffectorTransformType"/>

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