From 3af033b3bd68a0895d661dc999e2e586fafcee0b Mon Sep 17 00:00:00 2001
From: Jan Moringen <jmoringe@techfak.uni-bielefeld.de>
Date: Wed, 29 Jan 2020 11:05:25 +0100
Subject: [PATCH] Rename Kinematics -> KinematicChains

fixes #2
---
 .mps/.name                                    |   2 +-
 .mps/modules.xml                              |   6 +-
 build-plugin-mps.xml                          | 129 +++++++++---------
 .../KinematicChains.mpl}                      |   4 +-
 .../generator/template/main@generator.mps     |   0
 .../lib/jdom-2.0.6.jar                        | Bin
 .../models/KinematicChains.behavior.mps}      |   4 +-
 .../models/KinematicChains.constraints.mps}   |   4 +-
 .../models/KinematicChains.editor.mps}        |   4 +-
 .../models/KinematicChains.intentions.mps}    |   4 +-
 .../models/KinematicChains.plugin.mps}        |   4 +-
 .../models/KinematicChains.structure.mps}     |   2 +-
 .../models/KinematicChains.typesystem.mps}    |   6 +-
 .../generator/template/main/dependencies      |   8 --
 .../generator/template/main/generated         |   5 -
 .../KinematicChains.build.msd}                |   4 +-
 .../models/KinematicChains.build.mps}         |  91 ++++++------
 .../KinematicChains.sandbox.msd               |   6 +-
 .../models/KinematicChains.sandbox.mps        |   2 +-
 .../models/Kinematics/testgen.mps             |   0
 20 files changed, 128 insertions(+), 157 deletions(-)
 rename languages/{Kinematics/Kinematics.mpl => KinematicChains/KinematicChains.mpl} (98%)
 rename languages/{Kinematics => KinematicChains}/generator/template/main@generator.mps (100%)
 rename languages/{Kinematics => KinematicChains}/lib/jdom-2.0.6.jar (100%)
 rename languages/{Kinematics/models/behavior.mps => KinematicChains/models/KinematicChains.behavior.mps} (99%)
 rename languages/{Kinematics/models/constraints.mps => KinematicChains/models/KinematicChains.constraints.mps} (99%)
 rename languages/{Kinematics/models/editor.mps => KinematicChains/models/KinematicChains.editor.mps} (99%)
 rename languages/{Kinematics/models/intentions.mps => KinematicChains/models/KinematicChains.intentions.mps} (99%)
 rename languages/{Kinematics/models/plugin.mps => KinematicChains/models/KinematicChains.plugin.mps} (99%)
 rename languages/{Kinematics/models/structure.mps => KinematicChains/models/KinematicChains.structure.mps} (99%)
 rename languages/{Kinematics/models/typesystem.mps => KinematicChains/models/KinematicChains.typesystem.mps} (99%)
 delete mode 100644 languages/Kinematics/generator/source_gen.caches/Kinematics/generator/template/main/dependencies
 delete mode 100644 languages/Kinematics/generator/source_gen.caches/Kinematics/generator/template/main/generated
 rename solutions/{Kinematics.build/Kinematics.build.msd => KinematicChains.build/KinematicChains.build.msd} (88%)
 rename solutions/{Kinematics.build/models/Kinematics/build.mps => KinematicChains.build/models/KinematicChains.build.mps} (88%)
 rename languages/Kinematics/sandbox/Kinematics.sandbox.msd => solutions/KinematicChains.sandbox/KinematicChains.sandbox.msd (81%)
 rename languages/Kinematics/sandbox/models/Kinematics/sandbox.mps => solutions/KinematicChains.sandbox/models/KinematicChains.sandbox.mps (99%)
 rename {languages/Kinematics/sandbox => solutions/KinematicChains.sandbox}/models/Kinematics/testgen.mps (100%)

diff --git a/.mps/.name b/.mps/.name
index 6c45483..c1c5118 100644
--- a/.mps/.name
+++ b/.mps/.name
@@ -1 +1 @@
-Kinematics
\ No newline at end of file
+KinematicChains
\ No newline at end of file
diff --git a/.mps/modules.xml b/.mps/modules.xml
index b982c20..bc74792 100644
--- a/.mps/modules.xml
+++ b/.mps/modules.xml
@@ -2,9 +2,9 @@
 <project version="4">
   <component name="MPSProject">
     <projectModules>
-      <modulePath path="$PROJECT_DIR$/languages/Kinematics/Kinematics.mpl" folder="" />
-      <modulePath path="$PROJECT_DIR$/languages/Kinematics/sandbox/Kinematics.sandbox.msd" folder="" />
-      <modulePath path="$PROJECT_DIR$/solutions/Kinematics.build/Kinematics.build.msd" folder="" />
+      <modulePath path="$PROJECT_DIR$/languages/KinematicChains/KinematicChains.mpl" folder="" />
+      <modulePath path="$PROJECT_DIR$/solutions/KinematicChains.build/KinematicChains.build.msd" folder="" />
+      <modulePath path="$PROJECT_DIR$/solutions/KinematicChains.sandbox/KinematicChains.sandbox.msd" folder="" />
     </projectModules>
   </component>
 </project>
\ No newline at end of file
diff --git a/build-plugin-mps.xml b/build-plugin-mps.xml
index 8cb3230..b71bb8b 100644
--- a/build-plugin-mps.xml
+++ b/build-plugin-mps.xml
@@ -1,8 +1,8 @@
-<project name="Kinematics" default="build">
+<project name="KinematicChains" default="build">
   <!-- Generated by MPS -->
   <property name="build.dir" location="build" />
-  <property name="build.tmp" location="${build.dir}/tmp/Kinematics" />
-  <property name="build.layout" location="${build.dir}/artifacts/Kinematics" />
+  <property name="build.tmp" location="${build.dir}/tmp/KinematicChains" />
+  <property name="build.layout" location="${build.dir}/artifacts/KinematicChains" />
   <property name="mps_home" location="" />
   <property name="current_version" value="1.0.0" />
   <property name="artifacts.mps" location="${mps_home}" />
@@ -27,13 +27,13 @@
   
   <target name="assemble" depends="classes, declare-mps-tasks">
     <mkdir dir="${build.layout}" />
-    <mkdir dir="${build.tmp}/default/Kinematics.zip" />
-    <mkdir dir="${build.tmp}/default/Kinematics.zip/Kinematics" />
-    <mkdir dir="${build.tmp}/default/Kinematics.zip/Kinematics/META-INF" />
-    <echoxml file="${build.tmp}/default/Kinematics.zip/Kinematics/META-INF/plugin.xml">
+    <mkdir dir="${build.tmp}/default/KinematicChains.zip" />
+    <mkdir dir="${build.tmp}/default/KinematicChains.zip/KinematicChains" />
+    <mkdir dir="${build.tmp}/default/KinematicChains.zip/KinematicChains/META-INF" />
+    <echoxml file="${build.tmp}/default/KinematicChains.zip/KinematicChains/META-INF/plugin.xml">
       <idea-plugin xmlns:xi="http://www.w3.org/2001/XInclude">
-        <id>Kinematics</id>
-        <name>Kinematics</name>
+        <id>KinematicChains</id>
+        <name>KinematicChains</name>
         <description>DSL covers the kinematic description of a robot (incl. URDF)</description>
         <version>${current_version}</version>
         <vendor url="https://ekvv.uni-bielefeld.de/pers_publ/publ/PersonDetail.jsp?personId=46595843">Dennis Leroy Wigand</vendor>
@@ -47,12 +47,12 @@
         </extensions>
       </idea-plugin>
     </echoxml>
-    <mkdir dir="${build.tmp}/default/Kinematics.zip/Kinematics/languages" />
-    <mkdir dir="${build.tmp}/default/Kinematics.zip/Kinematics/languages/Kinematics" />
-    <mkdir dir="${build.tmp}/default/Kinematics.jar" />
-    <mkdir dir="${build.tmp}/default/Kinematics.jar/META-INF" />
-    <echoxml file="${build.tmp}/default/Kinematics.jar/META-INF/module.xml">
-      <module namespace="Kinematics" type="language" uuid="d6881f78-a85d-4c9e-931e-30879e67afdd">
+    <mkdir dir="${build.tmp}/default/KinematicChains.zip/KinematicChains/languages" />
+    <mkdir dir="${build.tmp}/default/KinematicChains.zip/KinematicChains/languages/KinematicChains" />
+    <mkdir dir="${build.tmp}/default/KinematicChains.jar" />
+    <mkdir dir="${build.tmp}/default/KinematicChains.jar/META-INF" />
+    <echoxml file="${build.tmp}/default/KinematicChains.jar/META-INF/module.xml">
+      <module namespace="KinematicChains" type="language" uuid="d6881f78-a85d-4c9e-931e-30879e67afdd">
         <dependencies>
           <module ref="6354ebe7-c22a-4a0f-ac54-50b52ab9b065(JDK)" kind="rt" />
           <module ref="6ed54515-acc8-4d1e-a16c-9fd6cfe951ea(MPS.Core)" kind="rt" />
@@ -135,36 +135,36 @@
           <language id="l:c7fb639f-be78-4307-89b0-b5959c3fa8c8:jetbrains.mps.lang.text" />
           <language id="l:7a5dda62-9140-4668-ab76-d5ed1746f2b2:jetbrains.mps.lang.typesystem" />
         </uses>
-        <library jar="../../languages/Kinematics/lib/jdom-2.0.6.jar" />
+        <library jar="../../languages/KinematicChains/lib/jdom-2.0.6.jar" />
         <classpath>
           <entry path="." />
         </classpath>
-        <sources jar="Kinematics-src.jar" descriptor="Kinematics.mpl" />
+        <sources jar="KinematicChains-src.jar" descriptor="KinematicChains.mpl" />
       </module>
     </echoxml>
-    <jar destfile="${build.tmp}/default/Kinematics.zip/Kinematics/languages/Kinematics/Kinematics.jar" duplicate="preserve">
-      <fileset dir="${build.tmp}/java/out/Kinematics" />
-      <fileset dir="${basedir}/languages/Kinematics" includes="icons/**, resources/**" />
-      <fileset dir="${basedir}/languages/Kinematics/source_gen" includes="**/trace.info, **/exports, **/*.mps, **/checkpoints" />
-      <fileset dir="${build.tmp}/default/Kinematics.jar" />
+    <jar destfile="${build.tmp}/default/KinematicChains.zip/KinematicChains/languages/KinematicChains/KinematicChains.jar" duplicate="preserve">
+      <fileset dir="${build.tmp}/java/out/KinematicChains" />
+      <fileset dir="${basedir}/languages/KinematicChains" includes="icons/**, resources/**" />
+      <fileset dir="${basedir}/languages/KinematicChains/source_gen" includes="**/trace.info, **/exports, **/*.mps, **/checkpoints" />
+      <fileset dir="${build.tmp}/default/KinematicChains.jar" />
     </jar>
-    <copyModels todir="${build.tmp}/customProcessors/copyModels/languages-Kinematics-models">
-      <fileset dir="${basedir}/languages/Kinematics/models" includes="**/*.mps, **/*.mpsr, **/.model" />
+    <copyModels todir="${build.tmp}/customProcessors/copyModels/languages-KinematicChains-models">
+      <fileset dir="${basedir}/languages/KinematicChains/models" includes="**/*.mps, **/*.mpsr, **/.model" />
     </copyModels>
-    <jar destfile="${build.tmp}/default/Kinematics.zip/Kinematics/languages/Kinematics/Kinematics-src.jar" duplicate="preserve">
-      <fileset dir="${basedir}/languages/Kinematics/source_gen">
+    <jar destfile="${build.tmp}/default/KinematicChains.zip/KinematicChains/languages/KinematicChains/KinematicChains-src.jar" duplicate="preserve">
+      <fileset dir="${basedir}/languages/KinematicChains/source_gen">
         <exclude name="**/trace.info" />
         <exclude name="**/exports" />
         <exclude name="**/checkpoints" />
         <exclude name="**/*.mps" />
       </fileset>
-      <zipfileset file="${basedir}/languages/Kinematics/Kinematics.mpl" prefix="module" />
-      <zipfileset dir="${build.tmp}/customProcessors/copyModels/languages-Kinematics-models" prefix="module/models" />
+      <zipfileset file="${basedir}/languages/KinematicChains/KinematicChains.mpl" prefix="module" />
+      <zipfileset dir="${build.tmp}/customProcessors/copyModels/languages-KinematicChains-models" prefix="module/models" />
     </jar>
-    <mkdir dir="${build.tmp}/default/Kinematics.build.jar" />
-    <mkdir dir="${build.tmp}/default/Kinematics.build.jar/META-INF" />
-    <echoxml file="${build.tmp}/default/Kinematics.build.jar/META-INF/module.xml">
-      <module namespace="Kinematics.build" type="solution" uuid="e698fac9-be95-401f-abc7-69942a3f3953">
+    <mkdir dir="${build.tmp}/default/KinematicChains.build.jar" />
+    <mkdir dir="${build.tmp}/default/KinematicChains.build.jar/META-INF" />
+    <echoxml file="${build.tmp}/default/KinematicChains.build.jar/META-INF/module.xml">
+      <module namespace="KinematicChains.build" type="solution" uuid="e698fac9-be95-401f-abc7-69942a3f3953">
         <dependencies>
           <module ref="422c2909-59d6-41a9-b318-40e6256b250f(jetbrains.mps.ide.build)" kind="cl" />
         </dependencies>
@@ -176,37 +176,36 @@
         <classpath>
           <entry path="." />
         </classpath>
-        <sources jar="Kinematics.build-src.jar" descriptor="Kinematics.build.msd" />
+        <sources jar="KinematicChains.build-src.jar" descriptor="KinematicChains.build.msd" />
       </module>
     </echoxml>
-    <jar destfile="${build.tmp}/default/Kinematics.zip/Kinematics/languages/Kinematics/Kinematics.build.jar" duplicate="preserve">
-      <fileset dir="${build.tmp}/java/out/Kinematics.build" />
-      <fileset dir="${basedir}/solutions/Kinematics.build" includes="icons/**, resources/**" />
-      <fileset dir="${basedir}/solutions/Kinematics.build/source_gen" includes="**/trace.info, **/exports, **/*.mps, **/checkpoints" />
-      <fileset dir="${build.tmp}/default/Kinematics.build.jar" />
+    <jar destfile="${build.tmp}/default/KinematicChains.zip/KinematicChains/languages/KinematicChains/KinematicChains.build.jar" duplicate="preserve">
+      <fileset dir="${build.tmp}/java/out/KinematicChains.build" />
+      <fileset dir="${basedir}/solutions/KinematicChains.build/source_gen" includes="**/trace.info, **/exports, **/*.mps, **/checkpoints" />
+      <fileset dir="${build.tmp}/default/KinematicChains.build.jar" />
     </jar>
-    <copyModels todir="${build.tmp}/customProcessors/copyModels/solutions-Kinematics.build-models">
-      <fileset dir="${basedir}/solutions/Kinematics.build/models" includes="**/*.mps, **/*.mpsr, **/.model" />
+    <copyModels todir="${build.tmp}/customProcessors/copyModels/solutions-KinematicChains.build-models">
+      <fileset dir="${basedir}/solutions/KinematicChains.build/models" includes="**/*.mps, **/*.mpsr, **/.model" />
     </copyModels>
-    <jar destfile="${build.tmp}/default/Kinematics.zip/Kinematics/languages/Kinematics/Kinematics.build-src.jar" duplicate="preserve">
-      <fileset dir="${basedir}/solutions/Kinematics.build/source_gen">
+    <jar destfile="${build.tmp}/default/KinematicChains.zip/KinematicChains/languages/KinematicChains/KinematicChains.build-src.jar" duplicate="preserve">
+      <fileset dir="${basedir}/solutions/KinematicChains.build/source_gen">
         <exclude name="**/trace.info" />
         <exclude name="**/exports" />
         <exclude name="**/checkpoints" />
         <exclude name="**/*.mps" />
       </fileset>
-      <zipfileset file="${basedir}/solutions/Kinematics.build/Kinematics.build.msd" prefix="module" />
-      <zipfileset dir="${build.tmp}/customProcessors/copyModels/solutions-Kinematics.build-models" prefix="module/models" />
+      <zipfileset file="${basedir}/solutions/KinematicChains.build/KinematicChains.build.msd" prefix="module" />
+      <zipfileset dir="${build.tmp}/customProcessors/copyModels/solutions-KinematicChains.build-models" prefix="module/models" />
     </jar>
-    <zip destfile="${build.layout}/Kinematics.zip">
-      <zipfileset file="${basedir}/languages/Kinematics/lib/jdom-2.0.6.jar" prefix="Kinematics/languages/Kinematics/lib" />
-      <fileset dir="${build.tmp}/default/Kinematics.zip" />
+    <zip destfile="${build.layout}/KinematicChains.zip">
+      <zipfileset file="${basedir}/languages/KinematicChains/lib/jdom-2.0.6.jar" prefix="KinematicChains/languages/KinematicChains/lib" />
+      <fileset dir="${build.tmp}/default/KinematicChains.zip" />
     </zip>
     <mkdir dir="${build.layout}/lib" />
     <copy todir="${build.layout}/lib">
-      <fileset file="${basedir}/languages/Kinematics/lib/jdom-2.0.6.jar" />
+      <fileset file="${basedir}/languages/KinematicChains/lib/jdom-2.0.6.jar" />
     </copy>
-    <echo file="${build.layout}/build.properties">Kinematics.current_version=${current_version}${line.separator}mps.build.number=${mps.build.number}${line.separator}mps.date=${mps.date}${line.separator}mps.build.vcs.number=${mps.build.vcs.number}${line.separator}mps.teamcity.buildConfName=${mps.teamcity.buildConfName}${line.separator}mps.idea.platform.build.number=${mps.idea.platform.build.number}${line.separator}mps.mps.build.counter=${mps.mps.build.counter}${line.separator}mpsBootstrapCore.version=${mpsBootstrapCore.version}</echo>
+    <echo file="${build.layout}/build.properties">KinematicChains.current_version=${current_version}${line.separator}mps.build.number=${mps.build.number}${line.separator}mps.date=${mps.date}${line.separator}mps.build.vcs.number=${mps.build.vcs.number}${line.separator}mps.teamcity.buildConfName=${mps.teamcity.buildConfName}${line.separator}mps.idea.platform.build.number=${mps.idea.platform.build.number}${line.separator}mps.mps.build.counter=${mps.mps.build.counter}${line.separator}mpsBootstrapCore.version=${mpsBootstrapCore.version}</echo>
   </target>
   
   <target name="buildDependents" />
@@ -220,7 +219,7 @@
     <delete dir="${build.layout}" />
   </target>
   
-  <target name="compileJava" depends="java.compile.Kinematics, java.compile.Kinematics.build" />
+  <target name="compileJava" depends="java.compile.KinematicChains, java.compile.KinematicChains.build" />
   
   <target name="processResources" />
   
@@ -361,8 +360,8 @@
       <library file="${artifacts.mps}/plugins/mps-build/languages/build/jetbrains.mps.build.workflow.preset.jar" />
       <library file="${artifacts.mps}/plugins/mps-build/languages/build/jetbrains.mps.ide.build.jar" />
       <chunk>
-        <module file="${basedir}/languages/Kinematics/Kinematics.mpl" />
-        <module file="${basedir}/solutions/Kinematics.build/Kinematics.build.msd" />
+        <module file="${basedir}/languages/KinematicChains/KinematicChains.mpl" />
+        <module file="${basedir}/solutions/KinematicChains.build/KinematicChains.build.msd" />
       </chunk>
       <jvmargs>
         <arg value="-ea" />
@@ -378,13 +377,13 @@
   
   <target name="makeDependents" />
   
-  <target name="java.compile.Kinematics" depends="fetchDependencies">
-    <mkdir dir="${basedir}/languages/Kinematics/source_gen" />
-    <mkdir dir="${build.tmp}/java/out/Kinematics" />
-    <javac destdir="${build.tmp}/java/out/Kinematics" fork="true" encoding="utf8" includeantruntime="false" debug="true">
+  <target name="java.compile.KinematicChains" depends="fetchDependencies">
+    <mkdir dir="${basedir}/languages/KinematicChains/source_gen" />
+    <mkdir dir="${build.tmp}/java/out/KinematicChains" />
+    <javac destdir="${build.tmp}/java/out/KinematicChains" fork="true" encoding="utf8" includeantruntime="false" debug="true">
       <compilerarg value="-Xlint:none" />
       <src>
-        <path location="${basedir}/languages/Kinematics/source_gen" />
+        <path location="${basedir}/languages/KinematicChains/source_gen" />
       </src>
       <classpath>
         <fileset file="${artifacts.mps}/lib/mps-core.jar" />
@@ -416,7 +415,7 @@
         <fileset file="${artifacts.mps}/lib/mps-textgen.jar" />
         <fileset file="${artifacts.mps}/lib/mps-icons.jar" />
         <fileset file="${artifacts.mps}/lib/mps-workbench.jar" />
-        <fileset file="${basedir}/languages/Kinematics/lib/jdom-2.0.6.jar" />
+        <fileset file="${basedir}/languages/KinematicChains/lib/jdom-2.0.6.jar" />
         <fileset file="${artifacts.mps}/lib/annotations.jar" />
         <fileset dir="${artifacts.mps}/lib" includes="*.jar" />
         <fileset file="${artifacts.mps}/lib/log4j.jar" />
@@ -438,20 +437,20 @@
     </javac>
   </target>
   
-  <target name="java.compile.Kinematics.build">
-    <mkdir dir="${basedir}/solutions/Kinematics.build/source_gen" />
-    <mkdir dir="${build.tmp}/java/out/Kinematics.build" />
-    <javac destdir="${build.tmp}/java/out/Kinematics.build" fork="true" encoding="utf8" includeantruntime="false" debug="true">
+  <target name="java.compile.KinematicChains.build">
+    <mkdir dir="${basedir}/solutions/KinematicChains.build/source_gen" />
+    <mkdir dir="${build.tmp}/java/out/KinematicChains.build" />
+    <javac destdir="${build.tmp}/java/out/KinematicChains.build" fork="true" encoding="utf8" includeantruntime="false" debug="true">
       <compilerarg value="-Xlint:none" />
       <src>
-        <path location="${basedir}/solutions/Kinematics.build/source_gen" />
+        <path location="${basedir}/solutions/KinematicChains.build/source_gen" />
       </src>
       <classpath />
     </javac>
   </target>
   
   <target name="cleanSources">
-    <delete dir="${basedir}/languages/Kinematics/source_gen" />
-    <delete dir="${basedir}/solutions/Kinematics.build/source_gen" />
+    <delete dir="${basedir}/languages/KinematicChains/source_gen" />
+    <delete dir="${basedir}/solutions/KinematicChains.build/source_gen" />
   </target>
 </project>
\ No newline at end of file
diff --git a/languages/Kinematics/Kinematics.mpl b/languages/KinematicChains/KinematicChains.mpl
similarity index 98%
rename from languages/Kinematics/Kinematics.mpl
rename to languages/KinematicChains/KinematicChains.mpl
index 592e6e6..93fad70 100644
--- a/languages/Kinematics/Kinematics.mpl
+++ b/languages/KinematicChains/KinematicChains.mpl
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<language namespace="Kinematics" uuid="d6881f78-a85d-4c9e-931e-30879e67afdd" languageVersion="3" moduleVersion="0">
+<language namespace="KinematicChains" uuid="d6881f78-a85d-4c9e-931e-30879e67afdd" languageVersion="3" moduleVersion="0">
   <models>
     <modelRoot contentPath="${module}" type="default">
       <sourceRoot location="models" />
@@ -74,7 +74,7 @@
   <dependencyVersions>
     <module reference="3f233e7f-b8a6-46d2-a57f-795d56775243(Annotations)" version="0" />
     <module reference="6354ebe7-c22a-4a0f-ac54-50b52ab9b065(JDK)" version="0" />
-    <module reference="d6881f78-a85d-4c9e-931e-30879e67afdd(Kinematics)" version="0" />
+    <module reference="d6881f78-a85d-4c9e-931e-30879e67afdd(KinematicChains)" version="0" />
     <module reference="6ed54515-acc8-4d1e-a16c-9fd6cfe951ea(MPS.Core)" version="0" />
     <module reference="1ed103c3-3aa6-49b7-9c21-6765ee11f224(MPS.Editor)" version="0" />
     <module reference="498d89d2-c2e9-11e2-ad49-6cf049e62fe5(MPS.IDEA)" version="0" />
diff --git a/languages/Kinematics/generator/template/main@generator.mps b/languages/KinematicChains/generator/template/main@generator.mps
similarity index 100%
rename from languages/Kinematics/generator/template/main@generator.mps
rename to languages/KinematicChains/generator/template/main@generator.mps
diff --git a/languages/Kinematics/lib/jdom-2.0.6.jar b/languages/KinematicChains/lib/jdom-2.0.6.jar
similarity index 100%
rename from languages/Kinematics/lib/jdom-2.0.6.jar
rename to languages/KinematicChains/lib/jdom-2.0.6.jar
diff --git a/languages/Kinematics/models/behavior.mps b/languages/KinematicChains/models/KinematicChains.behavior.mps
similarity index 99%
rename from languages/Kinematics/models/behavior.mps
rename to languages/KinematicChains/models/KinematicChains.behavior.mps
index eb8a7e9..6435acf 100644
--- a/languages/Kinematics/models/behavior.mps
+++ b/languages/KinematicChains/models/KinematicChains.behavior.mps
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<model ref="r:508cb62d-392f-4e80-8340-a4df853548eb(Kinematics.behavior)">
+<model ref="r:508cb62d-392f-4e80-8340-a4df853548eb(KinematicChains.behavior)">
   <persistence version="9" />
   <languages>
     <use id="af65afd8-f0dd-4942-87d9-63a55f2a9db1" name="jetbrains.mps.lang.behavior" version="2" />
@@ -8,7 +8,7 @@
   </languages>
   <imports>
     <import index="tpee" ref="r:00000000-0000-4000-0000-011c895902ca(jetbrains.mps.baseLanguage.structure)" />
-    <import index="cewj" ref="r:cd13618c-02ad-4af8-a3e4-3414c58c4613(Kinematics.structure)" implicit="true" />
+    <import index="cewj" ref="r:cd13618c-02ad-4af8-a3e4-3414c58c4613(KinematicChains.structure)" implicit="true" />
     <import index="wyt6" ref="6354ebe7-c22a-4a0f-ac54-50b52ab9b065/java:java.lang(JDK/)" implicit="true" />
   </imports>
   <registry>
diff --git a/languages/Kinematics/models/constraints.mps b/languages/KinematicChains/models/KinematicChains.constraints.mps
similarity index 99%
rename from languages/Kinematics/models/constraints.mps
rename to languages/KinematicChains/models/KinematicChains.constraints.mps
index 44b7dfd..0c256b3 100644
--- a/languages/Kinematics/models/constraints.mps
+++ b/languages/KinematicChains/models/KinematicChains.constraints.mps
@@ -1,12 +1,12 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<model ref="r:c14fa7b8-1df5-443f-89e6-4d51c3d5322c(Kinematics.constraints)">
+<model ref="r:c14fa7b8-1df5-443f-89e6-4d51c3d5322c(KinematicChains.constraints)">
   <persistence version="9" />
   <languages>
     <devkit ref="00000000-0000-4000-0000-5604ebd4f22c(jetbrains.mps.devkit.aspect.constraints)" />
   </languages>
   <imports>
     <import index="o8zo" ref="r:314576fc-3aee-4386-a0a5-a38348ac317d(jetbrains.mps.scope)" />
-    <import index="cewj" ref="r:cd13618c-02ad-4af8-a3e4-3414c58c4613(Kinematics.structure)" implicit="true" />
+    <import index="cewj" ref="r:cd13618c-02ad-4af8-a3e4-3414c58c4613(KinematicChains.structure)" implicit="true" />
     <import index="tpck" ref="r:00000000-0000-4000-0000-011c89590288(jetbrains.mps.lang.core.structure)" implicit="true" />
   </imports>
   <registry>
diff --git a/languages/Kinematics/models/editor.mps b/languages/KinematicChains/models/KinematicChains.editor.mps
similarity index 99%
rename from languages/Kinematics/models/editor.mps
rename to languages/KinematicChains/models/KinematicChains.editor.mps
index 6b3ee82..9394139 100644
--- a/languages/Kinematics/models/editor.mps
+++ b/languages/KinematicChains/models/KinematicChains.editor.mps
@@ -1,12 +1,12 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<model ref="r:4f38c9dc-6fbd-47e0-b9aa-3bcea73b4cc8(Kinematics.editor)">
+<model ref="r:4f38c9dc-6fbd-47e0-b9aa-3bcea73b4cc8(KinematicChains.editor)">
   <persistence version="9" />
   <languages>
     <use id="18bc6592-03a6-4e29-a83a-7ff23bde13ba" name="jetbrains.mps.lang.editor" version="13" />
     <devkit ref="fbc25dd2-5da4-483a-8b19-70928e1b62d7(jetbrains.mps.devkit.general-purpose)" />
   </languages>
   <imports>
-    <import index="cewj" ref="r:cd13618c-02ad-4af8-a3e4-3414c58c4613(Kinematics.structure)" implicit="true" />
+    <import index="cewj" ref="r:cd13618c-02ad-4af8-a3e4-3414c58c4613(KinematicChains.structure)" implicit="true" />
     <import index="tpck" ref="r:00000000-0000-4000-0000-011c89590288(jetbrains.mps.lang.core.structure)" implicit="true" />
   </imports>
   <registry>
diff --git a/languages/Kinematics/models/intentions.mps b/languages/KinematicChains/models/KinematicChains.intentions.mps
similarity index 99%
rename from languages/Kinematics/models/intentions.mps
rename to languages/KinematicChains/models/KinematicChains.intentions.mps
index 5fc29bb..5dc2bf9 100644
--- a/languages/Kinematics/models/intentions.mps
+++ b/languages/KinematicChains/models/KinematicChains.intentions.mps
@@ -1,12 +1,12 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<model ref="r:5196cc44-1117-47bf-99e4-b0351132c090(Kinematics.intentions)">
+<model ref="r:5196cc44-1117-47bf-99e4-b0351132c090(KinematicChains.intentions)">
   <persistence version="9" />
   <languages>
     <use id="d7a92d38-f7db-40d0-8431-763b0c3c9f20" name="jetbrains.mps.lang.intentions" version="1" />
     <devkit ref="fbc25dd2-5da4-483a-8b19-70928e1b62d7(jetbrains.mps.devkit.general-purpose)" />
   </languages>
   <imports>
-    <import index="cewj" ref="r:cd13618c-02ad-4af8-a3e4-3414c58c4613(Kinematics.structure)" />
+    <import index="cewj" ref="r:cd13618c-02ad-4af8-a3e4-3414c58c4613(KinematicChains.structure)" />
   </imports>
   <registry>
     <language id="f3061a53-9226-4cc5-a443-f952ceaf5816" name="jetbrains.mps.baseLanguage">
diff --git a/languages/Kinematics/models/plugin.mps b/languages/KinematicChains/models/KinematicChains.plugin.mps
similarity index 99%
rename from languages/Kinematics/models/plugin.mps
rename to languages/KinematicChains/models/KinematicChains.plugin.mps
index 0047f64..0d81a4e 100644
--- a/languages/Kinematics/models/plugin.mps
+++ b/languages/KinematicChains/models/KinematicChains.plugin.mps
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<model ref="r:737e7479-520e-42bd-98f1-33788d8210bf(Kinematics.plugin)">
+<model ref="r:737e7479-520e-42bd-98f1-33788d8210bf(KinematicChains.plugin)">
   <persistence version="9" />
   <languages>
     <use id="f159adf4-3c93-40f9-9c5a-1f245a8697af" name="jetbrains.mps.lang.aspect" version="2" />
@@ -16,7 +16,7 @@
     <import index="33ny" ref="6354ebe7-c22a-4a0f-ac54-50b52ab9b065/java:java.util(JDK/)" />
     <import index="qkt" ref="498d89d2-c2e9-11e2-ad49-6cf049e62fe5/java:com.intellij.openapi.actionSystem(MPS.IDEA/)" />
     <import index="mhbf" ref="8865b7a8-5271-43d3-884c-6fd1d9cfdd34/java:org.jetbrains.mps.openapi.model(MPS.OpenAPI/)" />
-    <import index="cewj" ref="r:cd13618c-02ad-4af8-a3e4-3414c58c4613(Kinematics.structure)" />
+    <import index="cewj" ref="r:cd13618c-02ad-4af8-a3e4-3414c58c4613(KinematicChains.structure)" />
     <import index="tpee" ref="r:00000000-0000-4000-0000-011c895902ca(jetbrains.mps.baseLanguage.structure)" />
     <import index="twf3" ref="6ed54515-acc8-4d1e-a16c-9fd6cfe951ea/java:org.eclipse.jdt.internal.compiler.ast(MPS.Core/)" />
     <import index="wyt6" ref="6354ebe7-c22a-4a0f-ac54-50b52ab9b065/java:java.lang(JDK/)" />
diff --git a/languages/Kinematics/models/structure.mps b/languages/KinematicChains/models/KinematicChains.structure.mps
similarity index 99%
rename from languages/Kinematics/models/structure.mps
rename to languages/KinematicChains/models/KinematicChains.structure.mps
index d92f650..9e889ec 100644
--- a/languages/Kinematics/models/structure.mps
+++ b/languages/KinematicChains/models/KinematicChains.structure.mps
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<model ref="r:cd13618c-02ad-4af8-a3e4-3414c58c4613(Kinematics.structure)">
+<model ref="r:cd13618c-02ad-4af8-a3e4-3414c58c4613(KinematicChains.structure)">
   <persistence version="9" />
   <languages>
     <devkit ref="78434eb8-b0e5-444b-850d-e7c4ad2da9ab(jetbrains.mps.devkit.aspect.structure)" />
diff --git a/languages/Kinematics/models/typesystem.mps b/languages/KinematicChains/models/KinematicChains.typesystem.mps
similarity index 99%
rename from languages/Kinematics/models/typesystem.mps
rename to languages/KinematicChains/models/KinematicChains.typesystem.mps
index 7a28aee..3ae3c27 100644
--- a/languages/Kinematics/models/typesystem.mps
+++ b/languages/KinematicChains/models/KinematicChains.typesystem.mps
@@ -1,13 +1,13 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<model ref="r:08409190-8f33-4b20-a01a-ed5788f61dfb(Kinematics.typesystem)">
+<model ref="r:08409190-8f33-4b20-a01a-ed5788f61dfb(KinematicChains.typesystem)">
   <persistence version="9" />
   <languages>
     <devkit ref="00000000-0000-4000-0000-1de82b3a4936(jetbrains.mps.devkit.aspect.typesystem)" />
   </languages>
   <imports>
-    <import index="cewj" ref="r:cd13618c-02ad-4af8-a3e4-3414c58c4613(Kinematics.structure)" implicit="true" />
+    <import index="cewj" ref="r:cd13618c-02ad-4af8-a3e4-3414c58c4613(KinematicChains.structure)" implicit="true" />
     <import index="wyt6" ref="6354ebe7-c22a-4a0f-ac54-50b52ab9b065/java:java.lang(JDK/)" implicit="true" />
-    <import index="3n2x" ref="r:508cb62d-392f-4e80-8340-a4df853548eb(Kinematics.behavior)" implicit="true" />
+    <import index="3n2x" ref="r:508cb62d-392f-4e80-8340-a4df853548eb(KinematicChains.behavior)" implicit="true" />
   </imports>
   <registry>
     <language id="f3061a53-9226-4cc5-a443-f952ceaf5816" name="jetbrains.mps.baseLanguage">
diff --git a/languages/Kinematics/generator/source_gen.caches/Kinematics/generator/template/main/dependencies b/languages/Kinematics/generator/source_gen.caches/Kinematics/generator/template/main/dependencies
deleted file mode 100644
index 75df6b5..0000000
--- a/languages/Kinematics/generator/source_gen.caches/Kinematics/generator/template/main/dependencies
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<dependenciesRoot>
-  <dependency className="Kinematics.generator.template.main.QueriesGenerated">
-    <classNode dependClassName="jetbrains.mps.generator.runtime.Generated" />
-    <classNode extendsClassName="jetbrains.mps.generator.impl.query.QueryProviderBase" />
-  </dependency>
-</dependenciesRoot>
-
diff --git a/languages/Kinematics/generator/source_gen.caches/Kinematics/generator/template/main/generated b/languages/Kinematics/generator/source_gen.caches/Kinematics/generator/template/main/generated
deleted file mode 100644
index aca44d0..0000000
--- a/languages/Kinematics/generator/source_gen.caches/Kinematics/generator/template/main/generated
+++ /dev/null
@@ -1,5 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<product version="3" modelHash="yig1m93i7usb9kqhvg4y9l92qkquc0">
-  <files names="QueriesGenerated.java" />
-</product>
-
diff --git a/solutions/Kinematics.build/Kinematics.build.msd b/solutions/KinematicChains.build/KinematicChains.build.msd
similarity index 88%
rename from solutions/Kinematics.build/Kinematics.build.msd
rename to solutions/KinematicChains.build/KinematicChains.build.msd
index 06925a1..2b802f6 100644
--- a/solutions/Kinematics.build/Kinematics.build.msd
+++ b/solutions/KinematicChains.build/KinematicChains.build.msd
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<solution name="Kinematics.build" uuid="e698fac9-be95-401f-abc7-69942a3f3953" moduleVersion="0" compileInMPS="true">
+<solution name="KinematicChains.build" uuid="e698fac9-be95-401f-abc7-69942a3f3953" moduleVersion="0" compileInMPS="true">
   <models>
     <modelRoot contentPath="${module}" type="default">
       <sourceRoot location="models" />
@@ -22,7 +22,7 @@
     <language slang="l:9ded098b-ad6a-4657-bfd9-48636cfe8bc3:jetbrains.mps.lang.traceable" version="0" />
   </languageVersions>
   <dependencyVersions>
-    <module reference="e698fac9-be95-401f-abc7-69942a3f3953(Kinematics.build)" version="0" />
+    <module reference="e698fac9-be95-401f-abc7-69942a3f3953(KinematicChains.build)" version="0" />
     <module reference="422c2909-59d6-41a9-b318-40e6256b250f(jetbrains.mps.ide.build)" version="0" />
   </dependencyVersions>
 </solution>
diff --git a/solutions/Kinematics.build/models/Kinematics/build.mps b/solutions/KinematicChains.build/models/KinematicChains.build.mps
similarity index 88%
rename from solutions/Kinematics.build/models/Kinematics/build.mps
rename to solutions/KinematicChains.build/models/KinematicChains.build.mps
index 6150daf..dc4bd99 100644
--- a/solutions/Kinematics.build/models/Kinematics/build.mps
+++ b/solutions/KinematicChains.build/models/KinematicChains.build.mps
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<model ref="r:194a337e-1208-4e47-b397-de3f7aa7ad6b(Kinematics.build)">
+<model ref="r:194a337e-1208-4e47-b397-de3f7aa7ad6b(KinematicChains.build)">
   <persistence version="9" />
   <languages>
     <use id="798100da-4f0a-421a-b991-71f8c50ce5d2" name="jetbrains.mps.build" version="0" />
@@ -158,7 +158,7 @@
     </language>
   </registry>
   <node concept="1l3spW" id="2RDM3_ZXwQQ">
-    <property role="TrG5h" value="Kinematics" />
+    <property role="TrG5h" value="KinematicChains" />
     <property role="2DA0ip" value="../../" />
     <property role="turDy" value="build-plugin-mps.xml" />
     <node concept="10PD9b" id="2RDM3_ZXwQR" role="10PD9s" />
@@ -186,15 +186,15 @@
       <node concept="3981dG" id="2RDM3_ZXwRd" role="39821P">
         <node concept="3_J27D" id="2RDM3_ZXwRe" role="Nbhlr">
           <node concept="3Mxwew" id="2RDM3_ZXwRf" role="3MwsjC">
-            <property role="3MwjfP" value="Kinematics.zip" />
+            <property role="3MwjfP" value="KinematicChains.zip" />
           </node>
         </node>
         <node concept="m$_wl" id="2RDM3_ZXwRg" role="39821P">
-          <ref role="m_rDy" node="2RDM3_ZXwR3" resolve="Kinematics" />
+          <ref role="m_rDy" node="2RDM3_ZXwR3" resolve="KinematicChains" />
           <node concept="398223" id="3XyefmktsUl" role="39821P">
             <node concept="3_J27D" id="3XyefmktsUm" role="Nbhlr">
               <node concept="3Mxwew" id="3XyefmktsUB" role="3MwsjC">
-                <property role="3MwjfP" value="languages/Kinematics/lib" />
+                <property role="3MwjfP" value="languages/KinematicChains/lib" />
               </node>
             </node>
             <node concept="28jJK3" id="3XyefmktsVH" role="39821P">
@@ -202,7 +202,7 @@
                 <node concept="2Ry0Ak" id="3XyefmktsW2" role="iGT6I">
                   <property role="2Ry0Am" value="languages" />
                   <node concept="2Ry0Ak" id="3XyefmktsW7" role="2Ry0An">
-                    <property role="2Ry0Am" value="Kinematics" />
+                    <property role="2Ry0Am" value="KinematicChains" />
                     <node concept="2Ry0Ak" id="3XyefmktsWc" role="2Ry0An">
                       <property role="2Ry0Am" value="lib" />
                       <node concept="2Ry0Ak" id="3XyefmktsWh" role="2Ry0An">
@@ -228,7 +228,7 @@
             <node concept="2Ry0Ak" id="2YcwOqcE1OY" role="iGT6I">
               <property role="2Ry0Am" value="languages" />
               <node concept="2Ry0Ak" id="2YcwOqcE1P5" role="2Ry0An">
-                <property role="2Ry0Am" value="Kinematics" />
+                <property role="2Ry0Am" value="KinematicChains" />
                 <node concept="2Ry0Ak" id="2YcwOqcE1Pc" role="2Ry0An">
                   <property role="2Ry0Am" value="lib" />
                   <node concept="2Ry0Ak" id="2YcwOqcE1Pj" role="2Ry0An">
@@ -242,7 +242,7 @@
       </node>
     </node>
     <node concept="m$_wf" id="2RDM3_ZXwR3" role="3989C9">
-      <property role="m$_wk" value="Kinematics" />
+      <property role="m$_wk" value="KinematicChains" />
       <node concept="2pNNFK" id="3ddCaS_xAzO" role="20twgj">
         <property role="2pNNFO" value="vendor" />
         <node concept="2pNUuL" id="4J0OvZJgW_Q" role="2pNNFR">
@@ -278,7 +278,7 @@
       </node>
       <node concept="3_J27D" id="2RDM3_ZXwR4" role="m$_yQ">
         <node concept="3Mxwew" id="2RDM3_ZXwR5" role="3MwsjC">
-          <property role="3MwjfP" value="Kinematics" />
+          <property role="3MwjfP" value="KinematicChains" />
         </node>
       </node>
       <node concept="3_J27D" id="2RDM3_ZXwR6" role="m$_w8">
@@ -287,7 +287,7 @@
         </node>
       </node>
       <node concept="m$f5U" id="2RDM3_ZXwR8" role="m$_yh">
-        <ref role="m$f5T" node="2RDM3_ZXwR2" resolve="Kinematics" />
+        <ref role="m$f5T" node="2RDM3_ZXwR2" resolve="KinematicChains" />
       </node>
       <node concept="m$_yC" id="2RDM3_ZXwR9" role="m$_yJ">
         <ref role="m$_y1" to="ffeo:4k71ibbKLe8" resolve="jetbrains.mps.core" />
@@ -297,7 +297,7 @@
       </node>
       <node concept="3_J27D" id="2RDM3_ZXwRa" role="m_cZH">
         <node concept="3Mxwew" id="2RDM3_ZXwRb" role="3MwsjC">
-          <property role="3MwjfP" value="Kinematics" />
+          <property role="3MwjfP" value="KinematicChains" />
         </node>
       </node>
       <node concept="2iUeEo" id="2YcwOqcDAoo" role="2iVFfd">
@@ -311,17 +311,17 @@
       </node>
     </node>
     <node concept="2G$12M" id="2RDM3_ZXwR2" role="3989C9">
-      <property role="TrG5h" value="Kinematics" />
+      <property role="TrG5h" value="KinematicChains" />
       <node concept="1E1JtD" id="2RDM3_ZXwR1" role="2G$12L">
-        <property role="TrG5h" value="Kinematics" />
+        <property role="TrG5h" value="KinematicChains" />
         <property role="3LESm3" value="d6881f78-a85d-4c9e-931e-30879e67afdd" />
         <node concept="55IIr" id="2RDM3_ZXwQW" role="3LF7KH">
           <node concept="2Ry0Ak" id="2RDM3_ZXwQX" role="iGT6I">
             <property role="2Ry0Am" value="languages" />
             <node concept="2Ry0Ak" id="2RDM3_ZXwQY" role="2Ry0An">
-              <property role="2Ry0Am" value="Kinematics" />
-              <node concept="2Ry0Ak" id="2RDM3_ZXwQZ" role="2Ry0An">
-                <property role="2Ry0Am" value="Kinematics.mpl" />
+              <property role="2Ry0Am" value="KinematicChains" />
+              <node concept="2Ry0Ak" id="3U2bBlMypj" role="2Ry0An">
+                <property role="2Ry0Am" value="KinematicChains.mpl" />
               </node>
             </node>
           </node>
@@ -347,7 +347,7 @@
               <node concept="2Ry0Ak" id="2YcwOqcEd8p" role="iGT6I">
                 <property role="2Ry0Am" value="languages" />
                 <node concept="2Ry0Ak" id="2YcwOqcEd8q" role="2Ry0An">
-                  <property role="2Ry0Am" value="Kinematics" />
+                  <property role="2Ry0Am" value="KinematicChains" />
                   <node concept="2Ry0Ak" id="2YcwOqcEd8r" role="2Ry0An">
                     <property role="2Ry0Am" value="lib" />
                     <node concept="2Ry0Ak" id="2YcwOqcEd8s" role="2Ry0An">
@@ -372,8 +372,8 @@
             <node concept="55IIr" id="5Wg1JTUvFPr" role="3LXTmr">
               <node concept="2Ry0Ak" id="5Wg1JTUvFPs" role="iGT6I">
                 <property role="2Ry0Am" value="languages" />
-                <node concept="2Ry0Ak" id="5Wg1JTUvFPt" role="2Ry0An">
-                  <property role="2Ry0Am" value="Kinematics" />
+                <node concept="2Ry0Ak" id="3U2bBlMypl" role="2Ry0An">
+                  <property role="2Ry0Am" value="KinematicChains" />
                 </node>
               </node>
             </node>
@@ -403,7 +403,7 @@
               <node concept="2Ry0Ak" id="425Yjnh6IZj" role="iGT6I">
                 <property role="2Ry0Am" value="languages" />
                 <node concept="2Ry0Ak" id="425Yjnh6IZk" role="2Ry0An">
-                  <property role="2Ry0Am" value="Kinematics" />
+                  <property role="2Ry0Am" value="KinematicChains" />
                   <node concept="2Ry0Ak" id="425Yjnh6IZl" role="2Ry0An">
                     <property role="2Ry0Am" value="models" />
                   </node>
@@ -421,58 +421,43 @@
           </node>
         </node>
       </node>
-      <node concept="1E1JtA" id="44Dwksk40kY" role="2G$12L">
+      <node concept="1E1JtA" id="3U2bBlMYz7" role="2G$12L">
         <property role="BnDLt" value="true" />
-        <property role="TrG5h" value="Kinematics.build" />
+        <property role="TrG5h" value="KinematicChains.build" />
         <property role="3LESm3" value="e698fac9-be95-401f-abc7-69942a3f3953" />
-        <node concept="55IIr" id="44Dwksk40l1" role="3LF7KH">
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+        <node concept="55IIr" id="3U2bBlMY$u" role="3LF7KH">
+          <node concept="2Ry0Ak" id="3U2bBlMY$I" role="iGT6I">
             <property role="2Ry0Am" value="solutions" />
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-              <property role="2Ry0Am" value="Kinematics.build" />
-              <node concept="2Ry0Ak" id="44Dwksk40v5" role="2Ry0An">
-                <property role="2Ry0Am" value="Kinematics.build.msd" />
+            <node concept="2Ry0Ak" id="3U2bBlMY_2" role="2Ry0An">
+              <property role="2Ry0Am" value="KinematicChains.build" />
+              <node concept="2Ry0Ak" id="3U2bBlMY_h" role="2Ry0An">
+                <property role="2Ry0Am" value="KinematicChains.build.msd" />
               </node>
             </node>
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         </node>
-        <node concept="1SiIV0" id="44Dwksk40vm" role="3bR37C">
-          <node concept="3bR9La" id="44Dwksk40vn" role="1SiIV1">
+        <node concept="1SiIV0" id="3U2bBlMY_x" role="3bR37C">
+          <node concept="3bR9La" id="3U2bBlMY_y" role="1SiIV1">
             <ref role="3bR37D" to="ffeo:78GwwOvB3tw" resolve="jetbrains.mps.ide.build" />
           </node>
         </node>
-        <node concept="3rtmxn" id="5Wg1JTUvFPh" role="3bR31x">
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-            <node concept="3qWCbU" id="5Wg1JTUvFPj" role="3LXTna">
-              <property role="3qWCbO" value="icons/**, resources/**" />
-            </node>
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-                  <property role="2Ry0Am" value="Kinematics.build" />
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-              </node>
-            </node>
-          </node>
-        </node>
-        <node concept="1BupzO" id="425Yjnh6IZ_" role="3bR31x">
+        <node concept="1BupzO" id="3U2bBlMY_B" role="3bR31x">
           <property role="3ZfqAx" value="models" />
           <property role="1Hdu6h" value="true" />
           <property role="1HemKv" value="true" />
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-            <node concept="55IIr" id="425Yjnh6IZx" role="3LXTmr">
-              <node concept="2Ry0Ak" id="425Yjnh6IZy" role="iGT6I">
+          <node concept="3LXTmp" id="3U2bBlMY_C" role="1HemKq">
+            <node concept="55IIr" id="3U2bBlMY_z" role="3LXTmr">
+              <node concept="2Ry0Ak" id="3U2bBlMY_$" role="iGT6I">
                 <property role="2Ry0Am" value="solutions" />
-                <node concept="2Ry0Ak" id="425Yjnh6IZz" role="2Ry0An">
-                  <property role="2Ry0Am" value="Kinematics.build" />
-                  <node concept="2Ry0Ak" id="425Yjnh6IZ$" role="2Ry0An">
+                <node concept="2Ry0Ak" id="3U2bBlMY__" role="2Ry0An">
+                  <property role="2Ry0Am" value="KinematicChains.build" />
+                  <node concept="2Ry0Ak" id="3U2bBlMY_A" role="2Ry0An">
                     <property role="2Ry0Am" value="models" />
                   </node>
                 </node>
               </node>
             </node>
-            <node concept="3qWCbU" id="425Yjnh6IZB" role="3LXTna">
+            <node concept="3qWCbU" id="3U2bBlMY_D" role="3LXTna">
               <property role="3qWCbO" value="**/*.mps, **/*.mpsr, **/.model" />
             </node>
           </node>
diff --git a/languages/Kinematics/sandbox/Kinematics.sandbox.msd b/solutions/KinematicChains.sandbox/KinematicChains.sandbox.msd
similarity index 81%
rename from languages/Kinematics/sandbox/Kinematics.sandbox.msd
rename to solutions/KinematicChains.sandbox/KinematicChains.sandbox.msd
index 6dc0343..a1c8493 100644
--- a/languages/Kinematics/sandbox/Kinematics.sandbox.msd
+++ b/solutions/KinematicChains.sandbox/KinematicChains.sandbox.msd
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<solution name="Kinematics.sandbox" uuid="f50ab0af-2037-4ab3-8fa4-8d24dc2e6a8a" moduleVersion="0" compileInMPS="true">
+<solution name="KinematicChains.sandbox" uuid="f50ab0af-2037-4ab3-8fa4-8d24dc2e6a8a" moduleVersion="0" compileInMPS="true">
   <models>
     <modelRoot contentPath="${module}" type="default">
       <sourceRoot location="models" />
@@ -12,13 +12,13 @@
   </facets>
   <sourcePath />
   <languageVersions>
-    <language slang="l:d6881f78-a85d-4c9e-931e-30879e67afdd:Kinematics" version="2" />
+    <language slang="l:d6881f78-a85d-4c9e-931e-30879e67afdd:KinematicChains" version="2" />
     <language slang="l:f3061a53-9226-4cc5-a443-f952ceaf5816:jetbrains.mps.baseLanguage" version="9" />
     <language slang="l:ceab5195-25ea-4f22-9b92-103b95ca8c0c:jetbrains.mps.lang.core" version="2" />
     <language slang="l:9ded098b-ad6a-4657-bfd9-48636cfe8bc3:jetbrains.mps.lang.traceable" version="0" />
   </languageVersions>
   <dependencyVersions>
-    <module reference="f50ab0af-2037-4ab3-8fa4-8d24dc2e6a8a(Kinematics.sandbox)" version="0" />
+    <module reference="f50ab0af-2037-4ab3-8fa4-8d24dc2e6a8a(KinematicChains.sandbox)" version="0" />
   </dependencyVersions>
 </solution>
 
diff --git a/languages/Kinematics/sandbox/models/Kinematics/sandbox.mps b/solutions/KinematicChains.sandbox/models/KinematicChains.sandbox.mps
similarity index 99%
rename from languages/Kinematics/sandbox/models/Kinematics/sandbox.mps
rename to solutions/KinematicChains.sandbox/models/KinematicChains.sandbox.mps
index b1f3411..f9d2aba 100644
--- a/languages/Kinematics/sandbox/models/Kinematics/sandbox.mps
+++ b/solutions/KinematicChains.sandbox/models/KinematicChains.sandbox.mps
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<model ref="r:1abb0f48-bb1c-4d87-8ebc-ec04966a77d9(Kinematics.sandbox)">
+<model ref="r:1abb0f48-bb1c-4d87-8ebc-ec04966a77d9(KinematicChains.sandbox)">
   <persistence version="9" />
   <languages>
     <use id="d6881f78-a85d-4c9e-931e-30879e67afdd" name="Kinematics" version="2" />
diff --git a/languages/Kinematics/sandbox/models/Kinematics/testgen.mps b/solutions/KinematicChains.sandbox/models/Kinematics/testgen.mps
similarity index 100%
rename from languages/Kinematics/sandbox/models/Kinematics/testgen.mps
rename to solutions/KinematicChains.sandbox/models/Kinematics/testgen.mps