Website Documentation Wrong

[CaeruleusAqua]

I know this might be out of place, but has anyone noticed that the graphics for the KDL segments on the website are wrong?

https://orocos.org/wiki/Kinematic_Trees.html

F_tip is not defined in the f_joint coordinate system, its defined in an by inverse p_origin translated F_joint. See segment constructor: f_tip(_joint.pose(0).Inverse() * _f_tip)

Example: Imagine a RotAxis joint: with p_origin [1,1,1] F_Tip = Identity

If you look at the pictures, the resulting position should be as follows (ignoring rotation): [1,1,1] But it is not, it is [0,0,0]