From 40f6676fcd007f011b1ff07d0fdcdb77fdb07088 Mon Sep 17 00:00:00 2001
From: dpasukhi <dpasukhi@opencascade.com>
Date: Thu, 16 Jul 2020 15:15:29 +0300
Subject: [PATCH] 0031388: To support kinematics data in STEP format

# add documentation about kinematics
 * draw Test Harness - Data Exchange commands
 * extended Data Exchange (XDE) - Working with XDE
---
 .../draw_test_harness/draw_test_harness.md    | 658 ++++++++++++++++++
 dox/user_guides/xde/xde.md                    | 104 ++-
 .../RWStepAP214_ReadWriteModule.cxx           |   2 -
 ...atics_RWActuatedKinPairAndOrderKinPair.cxx |   3 -
 src/STEPCAFControl/STEPCAFControl_Reader.cxx  |  40 +-
 src/STEPCAFControl/STEPCAFControl_Writer.cxx  | 156 +++--
 src/STEPCAFControl/STEPCAFControl_Writer.hxx  |   2 -
 src/XCAFDoc/GUID.txt                          |   1 +
 src/XCAFDoc/XCAFDoc_KinematicPair.cxx         |  26 +-
 src/XCAFDoc/XCAFDoc_KinematicTool.cxx         |  47 +-
 src/XCAFDoc/XCAFDoc_KinematicTool.hxx         |  15 +-
 .../XCAFKinematics_HighOrderPairObject.hxx    |   4 +-
 src/XDEDRAW/XDEDRAW_Kinematics.cxx            |  65 +-
 .../DFBrowserPaneXDE_XDEDRAW.cxx              |   3 +
 14 files changed, 998 insertions(+), 128 deletions(-)

diff --git a/dox/user_guides/draw_test_harness/draw_test_harness.md b/dox/user_guides/draw_test_harness/draw_test_harness.md
index b5ae421a01..33e3b2e9cf 100644
--- a/dox/user_guides/draw_test_harness/draw_test_harness.md
+++ b/dox/user_guides/draw_test_harness/draw_test_harness.md
@@ -10527,6 +10527,664 @@ Calculates the real volume of a pointed shape with a given deflection.
 XShapeVolume a 0 
 ~~~~~
 
+@subsection occt_draw_8_10  XDE kinematics commands 
+
+@subsubsection occt_draw_8_10_1  XAddMechanism
+
+Syntax:
+~~~~~
+XAddMechanism <document> 
+~~~~~
+
+Adds a new empty kinematic mechanism.
+
+**Example:**
+~~~~~
+XAddMechanism D
+== 0:11:1
+~~~~~
+
+@subsubsection occt_draw_8_10_2  XIsMechanism
+
+Syntax:
+~~~~~
+XIsMechanism <document> <label>
+~~~~~
+
+Returns 1 if the Label is a kinematic mechanism, else returns 0.
+
+**Example:**
+~~~~~
+XIsMechanism D 0:11:1
+== 1
+~~~~~
+
+@subsubsection occt_draw_8_10_3  XRemoveMechanism
+
+Syntax:
+~~~~~
+XRemoveMechanism <document> <label>
+~~~~~
+
+Removes a kinematic mechanism from a document (by it’s label).
+
+**Example:**
+~~~~~
+XRemoveMechanism D 0:11:1
+~~~~~
+
+@subsubsection occt_draw_8_10_4  XAddLink
+
+Syntax:
+~~~~~
+XAddLink <document> <parentMechanism> [-base] [shapeLabel1] ... [shapeLabelN]
+~~~~~
+
+Adds a kinematic link to a given mechanism. By default, a new link is added as empty and a non-base, otherwise it is necessary to pass label(s) of shape as the last parameters and -base as the third parameter.
+
+**Example:**
+~~~~~
+# add full (with shape) link to the mechanism
+XAddLink D 0:11:1 0:1:1:1
+# add empty base link to the mechanism
+XAddLink D 0:11:1 -base
+== 0:11:1:1:2
+~~~~~
+
+@subsubsection occt_draw_8_10_5  XSetLink
+
+Syntax:
+~~~~~
+XSetLink <document> <linkLabel> <shapeLabel1> [shapeLabel2] ... [shapeLabelN]
+~~~~~
+
+Sets a reference between a shape (set of shapes) and a kinematic link.
+
+**Example:**
+~~~~~
+XSetLink D 0:11:1:1:2 0:1:1:2
+~~~~~
+
+@subsubsection occt_draw_8_10_6  XSetBaseLink
+
+Syntax:
+~~~~~
+XSetBaseLink <document> <linkLabel>
+~~~~~
+
+Sets a kinematic link as a base of the mechanism.
+
+**Example:**
+~~~~~
+XSetBaseLink D 0:11:1:1:2
+~~~~~
+
+@subsubsection occt_draw_8_10_7  XIsLink
+
+Syntax:
+~~~~~
+XIsLink <document> <linkLabel>
+~~~~~
+
+Returns 1 if the label is a kinematic link, else returns 0.
+
+**Example:**
+~~~~~
+XIsLink D 0:11:1:1:1
+== 1
+~~~~~
+
+@subsubsection occt_draw_8_10_8  XRemoveLink
+
+Syntax:
+~~~~~
+XRemoveLink <doxument> <label>
+~~~~~
+
+Removes a kinematic link and referenced by it kinematic joints from a document (by it’s label).
+
+**Example:**
+~~~~~
+XRemoveLink D 0:11:1:1:1
+~~~~~
+
+@subsubsection occt_draw_8_10_9  XAddJoint
+
+Syntax:
+~~~~~
+XAddJoint <document> <parentMechanism> [linkLabel1 linkLabel2]
+~~~~~
+
+Adds a kinematic joint to a given mechanism. By default, a new joint is added as empty, otherwise it is necessary to pass couple (start and end) of the kinematic links as the last parameters.
+
+**Example:**
+~~~~~
+# add full (with links) joint to the mechanism
+XAddJoint D 0:11:1 0:11:1:1:1 0:11:1:1:2
+== 0:11:1:2:1
+# add empty joint to the mechanism
+XAddJoint D 0:11:1
+== 0:11:1:2:2
+~~~~~
+
+@subsubsection occt_draw_8_10_10  XSetJoint
+
+Syntax:
+~~~~~
+XSetJoint <document> <jointLabel> <linkLabel1> <linkLabel2>
+~~~~~
+
+Sets a reference between a kinematic joint and couple (start and end) of the kinematic links
+
+**Example:**
+~~~~~
+XSetJoint D 0:11:1:2:1 0:11:1:1:1 0:11:1:1:2
+~~~~~
+
+@subsubsection occt_draw_8_10_11  XIsJoint
+
+Syntax:
+~~~~~
+XIsJoint <document> <jointLabel>
+~~~~~
+
+Returns 1 if the label is a kinematic joint, else returns 0.
+
+**Example:**
+~~~~~
+XIsJoint D 0:11:1:2:1
+== 1
+~~~~~
+
+@subsubsection occt_draw_8_10_12  XRemoveJoint
+
+Syntax:
+~~~~~
+XRemoveJoint <document> <jointLabel>
+~~~~~
+
+Removes a kinematic joint from a document (by it’s label).
+
+**Example:**
+~~~~~
+XRemoveJoint D 0:11:1:2:1
+~~~~~
+
+@subsubsection occt_draw_8_10_13  XGetMechanisms
+
+Syntax:
+~~~~~
+XGetMechanisms <document>
+~~~~~
+
+Prints all kinematic mechanisms in an XCAF document.
+
+**Example:**
+~~~~~
+XGetMechanisms D
+== 0:11:1 0:11:2
+~~~~~
+
+@subsubsection occt_draw_8_10_14  XGetLinks
+
+Syntax:
+~~~~~
+XGetLinks <document> <parentMechanism>
+~~~~~
+
+Prints all kinematic links of the given mechanism in an XCAF document.
+
+**Example:**
+~~~~~
+XGetLinks D 0:11:1
+== 0:11:1:1:1 0:11:1:1:2
+~~~~~
+
+@subsubsection occt_draw_8_10_15  XGetJoints
+
+Syntax:
+~~~~~
+XGetJoints <document> <parentMechanism>
+~~~~~
+
+Prints all kinematic joints of the given mechanism in an XCAF document.
+
+**Example:**
+~~~~~
+XGetJoints 0:11:1
+== 0:11:1:2:1 0:11:1:2:2
+~~~~~
+
+@subsubsection occt_draw_8_10_16  XGetLinksOfJoint
+
+Syntax:
+~~~~~
+XGetLinksOfJoint <document> <jointLabel>
+~~~~~
+
+Prints start and end kinematic links of the given joint in an XCAF document.
+
+**Example:**
+~~~~~
+XGetLinksOfJoint D 0:11:1:2:1
+== 0:11:1:1:1 0:11:1:1:2
+~~~~~
+
+@subsubsection occt_draw_8_10_17  XGetJointsOfLink
+
+Syntax:
+~~~~~
+XGetJointsOfLink <document> <linkLabel>
+~~~~~
+
+Prints all kinematic links that reference a kinematic joint in an XCAF document.
+
+**Example:**
+~~~~~
+XGetJointsOfLink D 0:11:1:1:1
+== 0:11:1:2:1
+~~~~~
+
+@subsubsection occt_draw_8_10_18  XGetRefShapes
+
+Syntax:
+~~~~~
+XGetRefShapes <document> <linkLabel>
+~~~~~
+
+Prints all shape that reference a kinematic link in an XCAF document.
+
+**Example:**
+~~~~~
+XGetRefShapes D 0:11:1:1:1
+== 0:1:1:1
+~~~~~
+
+@subsubsection occt_draw_8_10_19  XSetPairName
+
+Syntax:
+~~~~~
+XSetPairName <document> <jointLabel> <name>
+~~~~~
+
+Sets the name of the kinematic pair.
+
+**Example:**
+~~~~~
+XSetPairName D 0:11:1:2:1 revolute
+~~~~~
+
+@subsubsection occt_draw_8_10_20  XGetPairName
+
+Syntax:
+~~~~~
+XGetPairName <document> <jointLabel>
+~~~~~
+
+Prints the name of the kinematic pair.
+
+**Example:**
+~~~~~
+XGetPairName D 0:11:1:2:1
+== revolute
+~~~~~
+
+@subsubsection occt_draw_8_10_21  XSetPairType
+
+Syntax:
+~~~~~
+XSetPairType <document> <jointLabel> <type {0|1|...|21}>
+~~~~~
+
+Sets a type of the kinematic pair.
+
+<i>\<Type\></i> may be:
+* 0  type is absent
+* 1  FullyConstrained
+* 2  Revolute
+* 3  Prismatic
+* 4  Cylindrical
+* 5  Universal
+* 6  Homokinetic
+* 7  SphericalWithPin
+* 8  Spherical
+* 9  Planar
+* 10 Unconstrained
+* 11 Screw
+* 12 RackAndPinion
+* 13 Gear
+* 14 LinearFlexibleAndPinion
+* 15 PointOnSurface
+* 16 SlidingSurface
+* 17 RollingSurface
+* 18 PointOnPlanarCurve
+* 19 SlidingCurve
+* 20 RollingCurve
+* 21 LinearFlexibleAndPlanarCurve
+
+**Example:**
+~~~~~
+XSetPairType D 0:11:1:2:1 2
+~~~~~
+
+@subsubsection occt_draw_8_10_22  XGetPairType
+
+Syntax:
+~~~~~
+XGetPairType <document> <jointLabel>
+~~~~~
+
+Prints a type of the kinematic pair.
+
+**Example:**
+~~~~~
+XGetPairType D 0:11:1:2:1
+== 2
+~~~~~
+
+@subsubsection occt_draw_8_10_23  XSetPairTransformation
+
+Syntax:
+~~~~~
+XSetPairTransformation <document> <jointLabel>  <transform_nb {1|2}> <plane> 
+~~~~~
+
+Sets a placement describes a relative position and orientation of a frame with respect to another frame.
+
+**Example:**
+~~~~~
+plane p1 10 20 30 -1 0 0 
+XSetPairTransformation D 0:11:1:2:1 1 p1
+~~~~~
+
+@subsubsection occt_draw_8_10_24  XGetPairTransformation
+
+Syntax:
+~~~~~
+XGetPairTransformation <document> <jointLabel>  <transform_nb {1|2}> <planeName> 
+~~~~~
+
+Creates a new variable names <i>\<planeName\></i> with a copy of the content of an first or second pair transformation.
+
+**Example:**
+~~~~~
+XGetPairTransformation D 0:11:1:2:1 1 p1
+~~~~~
+
+@subsubsection occt_draw_8_10_25  XSetPairOrientation
+
+Syntax:
+~~~~~
+XSetPairOrientation <document> <jointLabel>  <orientation {0|1}>
+~~~~~
+
+Sets orientation, directions correspond to the type of the kinematic pair.
+
+**Example:**
+~~~~~
+XSetPairOrientation D 0:11:1:2:1 1
+~~~~~
+
+@subsubsection occt_draw_8_10_26  XGetPairOrientation
+
+Syntax:
+~~~~~
+XGetPairOrientation <document> <jointLabel>
+~~~~~
+
+Prints orientation of the kinematic pair.
+
+**Example:**
+~~~~~
+XGetPairOrientation D 0:11:1:2:1
+== 1
+~~~~~
+
+@subsubsection occt_draw_8_10_27  XSetPairLimits
+
+Syntax:
+~~~~~
+XSetPairLimits <document> <jointLabel> <value1> ... <valueN>
+~~~~~
+
+Sets the limits of the kinematic pair according to the type
+
+<i>\<type - nb_of_values\></i>:
+* low order pair - 12 values
+* low order pair with motion coupling - 2 values
+* high order pair - 2 or 6 values.
+
+**Example:**
+~~~~~
+# sets limits for the low order pair with motion coupling
+XSetPairLimits D 0:11:1:2:1 15 30
+~~~~~
+
+@subsubsection occt_draw_8_10_28  XGetPairLimits
+
+Syntax:
+~~~~~
+XGetPairLimits <document> <jointLabel>
+~~~~~
+
+Prints all limits of the kinematic pair.
+
+**Example:**
+~~~~~
+# gets limits for the low order pair with motion coupling
+XGetPairLimits D 0:11:1:2:1
+== 15 30
+~~~~~
+
+@subsubsection occt_draw_8_10_29  XSetPairParams
+
+Syntax:
+~~~~~
+XSetPairParams <document> <jointLabel> <value1> ... <valueN>
+~~~~~
+
+Sets the params of the low order pair with motion coupling according to the type.
+
+<i>\<Type -  nb_of_values\></i>:
+* screw - 1 values
+ * pitch
+* rackAndPinion - 1 values
+ * pinionRadius
+* gear - 5
+ * firstLinkRadius
+ * secondLinkRadius
+ * bevel
+ * helicalAngle
+ * gearRatio
+
+**Example:**
+~~~~~
+XSetPairParams D 0:11:1:2:1 15 
+~~~~~
+
+@subsubsection occt_draw_8_10_30  XGetPairParams
+
+Syntax:
+~~~~~
+XGetPairParams <document> <jointLabel>
+~~~~~
+
+Prints all params of the kinematic pair.
+
+**Example:**
+~~~~~
+XGetPairParams D 0:11:1:2:1
+== 15
+~~~~~
+
+@subsubsection occt_draw_8_10_31  XSetPairGeomParam
+
+Syntax:
+~~~~~
+XSetPairGeomParam <document> <jointLabel>  <number_of_the_parameter {1|2}> {<surface>|<face>|<curve>|<edge>} 
+~~~~~
+
+Sets the parametrs of the high order pair according to the type.
+
+The following syntax is used: 
+* <i>\<limited\></i>
+ * point on surface
+  * trimmed surface | trimmed face
+ * point on curve 
+  * trimmed curve | trimmed edge
+* <i>\<not limited\></i>
+ * point on surface
+  * surface | face
+ * point on curve
+  * curve | edge
+ * sliding surface
+  * surface | face
+  * surface | face
+ * rolling surface
+  * surface | face
+  * surface | face
+ * sliding curve
+  * curve | edge
+  * curve | edge
+ * rolling curve
+  * curve | edge
+  * curve | edge
+ * linear flexible and planar curve
+  * curve | edge
+
+**Example:**
+~~~~~
+circle cir 4 4 4 1
+XSetPairGeomParam D 0:11:1:2:1 1 cir
+~~~~~
+
+@subsubsection occt_draw_8_10_32  XGetPairGeomParam
+
+Syntax:
+~~~~~
+XGetPairGeomParam <document> <jointLabel>  <number_of_the_parameter {1|2}> <name>
+~~~~~
+
+Creates a new variable names <i>\<name\></i> with a copy of the content of an first or second geom parametrs of pair.
+
+**Example:**
+~~~~~
+XGetPairGeomParam D 0:11:1:2:1 1 face
+~~~~~
+
+@subsubsection occt_draw_8_10_33  XAddMechanismState
+
+Syntax:
+~~~~~
+XAddMechanismState <document> <parentMechanism>
+~~~~~
+
+Adds a new empty kinematic mechanism state.
+
+**Example:**
+~~~~~
+XAddMechanismState D 0:11:1
+== 0:11:1:3:1
+~~~~~
+
+@subsubsection occt_draw_8_10_34  XRemoveMechanismState
+
+Syntax:
+~~~~~
+XRemoveMechanismState <document> <stateLabel>
+~~~~~
+
+Removes a kinematic mechanism state with all kinematic values from a document (by it’s label).
+
+**Example:**
+~~~~~
+XRemoveMechanismState D 0:11:1:3:1
+~~~~~
+
+@subsubsection occt_draw_8_10_35  XAddPairValues
+
+Syntax:
+~~~~~
+XAddPairValues <document> <stateLabel> [jointLabel] [-key1 values1] ... [-keyN valuesN]
+~~~~~
+
+Adds a kinematic value to a given state. By default, a new value is added as empty , otherwise it is necessary to pass label of reference joint as the third parameters and set of { -key value } according type, conteined in the joint.
+
+The following syntax of {-key value} is used: 
+* -[first_/second_]rotation - current rotation - 1 number
+* -[first_/second_]translation - current translation - 1 number
+* -[first_/second_]point_on_surface - current (u,v) - 2 numbers
+* -[first_/second_]point_on_curve - current (t) - 1 number
+* -ypr - current yaw pitch roll angles - 3 numbers
+* -trsf - for unconstrained only current location direction xdirection - 9 numbers
+
+**Example:**
+~~~~~
+XAddPairValues D 0:11:1:3:1 
+== 0:11:1:3:1:1
+~~~~~
+
+@subsubsection occt_draw_8_10_36  XSetPairValues
+
+Syntax:
+~~~~~
+XSetPairValues <document> <valueLabel> <jointLabel> <-key1 values1> ... <-keyN valuesN>
+~~~~~
+
+Sets a reference between a kinematic value and kinematic joint and sets parametr(s) of the kinematic value.
+
+The following syntax of {-key value} is used: 
+* -[first_/second_]rotation - current rotation - 1 number
+* -[first_/second_]translation - current translation - 1 number
+* -[first_/second_]point_on_surface - current (u,v) - 2 numbers
+* -[first_/second_]point_on_curve - current (t) - 1 number
+* -ypr - current yaw pitch roll angles - 3 numbers
+* -trsf - for unconstrained only current location direction xdirection - 9 numbers
+
+**Example:**
+~~~~~
+XSetPairValues D 0:11:1:3:1:1 0:11:1:2:1 -first_point_on_surface 1.5 -second_point_on_curve 7
+~~~~~
+
+@subsubsection occt_draw_8_10_37  XGetPairValues
+
+Syntax:
+~~~~~
+XGetPairValues <document> <valueLabel> <-key>
+~~~~~
+
+Prints parameter of the kinematic value according kinematic type.
+
+The following syntax of <i>\<-key\></i> is used:
+* -[first_/second_]rotation - current rotation 
+* -[first_/second_]translation - current translation 
+* -[first_/second_]point_on_surface - current (u,v)
+* -[first_/second_]point_on_curve - current (t)
+* -ypr - current yaw pitch roll angles
+* -trsf - for unconstrained only current location direction xdirection
+
+**Example:**
+~~~~~
+XGetPairValues D 0:11:1:3:1:1 -rotation
+== 1
+~~~~~
+
+@subsubsection occt_draw_8_10_37  XRemovePairValues
+
+Syntax:
+~~~~~
+XRemovePairValues <document> <valueLabel>
+~~~~~
+
+Removes a kinematic value from a document (by it’s label).
+
+**Example:**
+~~~~~
+XRemovePairValues D 0:11:1:3:1:1
+~~~~~
+
+
+
 @section occt_draw_9 Shape Healing commands
 
 
diff --git a/dox/user_guides/xde/xde.md b/dox/user_guides/xde/xde.md
index 1a71d98696..19e90587a5 100644
--- a/dox/user_guides/xde/xde.md
+++ b/dox/user_guides/xde/xde.md
@@ -148,7 +148,7 @@ Notes API provides the following functionality:
 @subsection occt_xde_1_11 Kinematics
 
 Kinematic data storage is realized according to ISO 10303-105:2019(E) and STEP Schema AP242 2019 year.
-All kinematic data is divided onto mechanisms each mechanism has its graph of links (references to shapes) and joints (kinematic pair information).
+All kinematic data is divided onto mechanisms each mechanism has its graph of links (references to shapes), joints (kinematic pair information) and (optional) states(sets of kinematic values).
 Each joint corresponds to one kinematic pair from the list:
 * Low order pairs
   - fully constrained pair (no DOF);
@@ -165,19 +165,25 @@ Each joint corresponds to one kinematic pair from the list:
   - screw pair;
   - rack and pinion pair;
   - gear pair;
+  - linear flexible and pinion pair
 * High order pairs
   - point on surface pair;
   - sliding surface pair;
   - rolling surface pair;
   - point on planar curve pair;
   - sliding curve pair;
-  - rolling curve pair.
+  - rolling curve pair;
+  - linear flexible and planar curve pair.
   
 The kinematic pair information consists of
 * parameters;
 * limits (optional);
 * current position (optional).
 
+The kinematic value consist of
+* reference to joint; 
+* paramters;
+
 All mentioned data depends on the kinematic pair type.
 
 @section occt_xde_2 Working with XDE
@@ -1107,26 +1113,84 @@ this method creates a new mechanism and two empty subfolders for links and joint
 The next step is specifying of links (mechanism details)  via *AddLink* and *SetLink* commands.
 The last step of kinematic graph creation is adding of joints with using *AddJoint* and *SetJoint* commands.
 
+Here is an example of creating a new mechanism and adding a new joint with two links:
+~~~~~
+Handle(XCAFDoc_KinematicTool) myKTool = ...
+TDF_Label aMechaism = myKTool->AddMechanism(); 
+TDF_Label aStartShape = ...
+TDF_Label aLink1 = myKTool->AddLink(aMechaism, aStartShape); // start link of joint
+TDF_Label aEndShape = ...
+TDF_Label aLink2 = myKTool->AddLink(aMechaism, aEndShape); // end link of joint
+TDF_Label aJoint = myKTool->AddJoint(aMechaism, aLink1, aLink2).
+~~~~~
+
+(Optional) the state label contains pair values to each kinematic joint within the kinematic mechanism.
+You can create new state with the empty kinematic value of joint, use:
+~~~~~
+Handle(XCAFDoc_KinematicTool) myKTool = ...
+TDF_Label aMechaism = myKTool->AddMechanism(); 
+TDF_Label aJoint = ...
+TDF_Label aState = myKTool->AddState(aMechanism);
+TDF_Label aValue = myKTool->AddValue(aState).
+~~~~~
+
+**Note** Any mechanism has a base link. By default, the end link of the first joint is the base of the mechanism.
+You can specify any link as basic, use: 
+~~~~~
+TDF_Label aLink2 = myKTool->AddLink(aMechaism, aEndShape, Standard_True); // if base link exist, old base loses specification.
+~~~~~
+
 @subsubsection occt_xde_2_11_2 Checking
 
-Commands *IsMechanism*, *IsLink* and *IsJoint* helps to check that created labels are valid.
-To retrieve current graph state use the next methods: *GetMechanisms*, *GetLinks*, *GetJoints* *GetLinksOfJoint*, *GetJointOfLink*, *GetRefShapes (for link)*. 
+Commands to check that created labels are valid:
+- *IsMechanism* : checking for main labels of links and joints;
+- *IsLink* : checking for references to shape of the given link;
+- *IsJoint* : checking for references to end and start link of the given joint;
+- *IsValue* : checking for conteined  assigning data.
+
+To retrieve current graph state use the next methods:
+- *GetMechanisms* : retrieves all mechanisms labels;
+- *GetStates* : retrieves all state labels of the given mechanism;
+- *GetValuesOfState* : retrieves all references to values labels of the given state;
+- *GetStateOfValue* : retrieves the state label of the given value;
+- *GetLinks* : retrieves all links labels of the given mechanism;
+- *GetJoints* : retrieves all joint labels of the given mechanism;
+- *GetLinksOfJoint* : retrieves two references to links labels of the given joint;
+- *GetJointOfLink* : retrieves all references to joint labels of the given link;
+- *GetValuesOfJoint* : retrieves all references to value labels of the given joint;
+- *GetJointOfValue* : retrieves the joint label of the given value;
+- *GetRefShapes* : retrieves all references to shape labels of the given **link**.
 
 @subsubsection occt_xde_2_11_3 Editing
 
-To change links's referred shapes use *SetLink*.
-To change joint's referred links use *SetJoint*.
+To change links's referred shapes use:
+~~~~~
+Handle(XCAFDoc_KinematicTool) myKTool = ...
+TDF_Label aLink = ...
+TDF_Label aShape = ... // or TDF_LabelSequence aShape
+aKTool->*SetLink*(aLink, aShape).
+~~~~~
+
+To change joint's referred links use:
+~~~~~
+Handle(XCAFDoc_KinematicTool) myKTool = ...
+aKTool->*SetJoint*(aJointLabel, aLink1Label, aLink2Label).
+~~~~~
 
 @subsubsection occt_xde_2_11_4 Deleting
 
-All kinematic data can be removed by *RemoveLink*, *RemoveJoint* and *RemoveMechanism* commands.
+All kinematic data can be removed use the next methods:
+- *RemoveLink* : removes the given link and all joints reference to it;
+- *RemoveJoint* : removes the given joint;
+- *RemoveMechanism* : removes the given mechanism with all its childrens;
+- *RemoveState* : removes the given state with all its values;
+- *RemoveValue* : removes the given value.
 
 @subsubsection occt_xde_2_11_5 Assigning data
 
 Each kinematic pair type has its set of parameters and so should be processed separately. The code below is a common example.
 
-Set data.
-
+Set pair data:
 ~~~~~
 // Create an object according to necessary type (LowOrder/LowOrderWithCoupling/HighOrder)
 XCAFKinematics_PairObject anObject = new XCAFKinematics_PairObject();
@@ -1138,7 +1202,18 @@ Handle(XCAFDoc_KinematicPair) aPair = XCAFDoc_KinematicPair::Set(aJointLabel);
 aPair->SetObject(anObject);
 ~~~~~
 
-Get data.
+(Optional) set kinematic value data:
+~~~~~
+// Create an object according to necessary type (RevolutePair, PrismaticPair, ...)
+Handle(StepKinematics_PairValue) aValueObject = new StepKinematics_PairValue;
+// Fill parameters according type
+...
+// Add attribute
+Handle(XCAFDoc_KinematicPairValue) aXCAFValue = XCAFDoc_KinematicPairValue::Set(aValueLabel, aJointLabel);
+aXCAFValue->SetObject(aValueObject);
+~~~~~
+
+Get pair data:
 ~~~~~
 // Get attribute from the label
 Handle(XCAFDoc_KinematicPair) aPair;
@@ -1148,6 +1223,15 @@ if (aJoint.FindAttribute(XCAFDoc_KinematicPair::GetID(), aPair)) {
 }
 ~~~~~
 
+(Optional) get kinematic value data:
+~~~~~
+// Get attribute from the label
+Handle(XCAFDoc_KinematicPairValue) aPairValue;
+if (aValueLabel.FindAttribute(XCAFDoc_KinematicPairValue::GetID(), aPairValue)) {
+  Handle(XCAFKinematics_PairValueObject) aPairValueObject = aPairValue->GetObject();
+}
+~~~~~
+
 @subsection occt_xde_2_12 Reading and Writing STEP or IGES
 Note that saving and restoring the document itself are standard OCAF operations. As the various previously described definitions enter into this frame, they will not be explained any further. 
 The same can be said for Viewing: presentations can be defined from Shapes and Colors. 
diff --git a/src/RWStepAP214/RWStepAP214_ReadWriteModule.cxx b/src/RWStepAP214/RWStepAP214_ReadWriteModule.cxx
index d2bd21e307..5d4f045aca 100644
--- a/src/RWStepAP214/RWStepAP214_ReadWriteModule.cxx
+++ b/src/RWStepAP214/RWStepAP214_ReadWriteModule.cxx
@@ -4244,8 +4244,6 @@ Standard_Boolean RWStepAP214_ReadWriteModule::IsComplex
       return Standard_True;
     case 719:
       return Standard_True;
-    case 796:
-      return Standard_True;
     default:
       return Standard_False;
     }
diff --git a/src/RWStepKinematics/RWStepKinematics_RWActuatedKinPairAndOrderKinPair.cxx b/src/RWStepKinematics/RWStepKinematics_RWActuatedKinPairAndOrderKinPair.cxx
index 12ad93a1cd..4fe540f791 100644
--- a/src/RWStepKinematics/RWStepKinematics_RWActuatedKinPairAndOrderKinPair.cxx
+++ b/src/RWStepKinematics/RWStepKinematics_RWActuatedKinPairAndOrderKinPair.cxx
@@ -13,11 +13,9 @@
 // Alternatively, this file may be used under the terms of Open CASCADE
 // commercial license or contractual agreement.
 
-#include <RWStepKinematics_RWActuatedKinematicPair.hxx>
 #include <Interface_Check.hxx>
 #include <Interface_EntityIterator.hxx>
 #include <RWStepKinematics_RWActuatedKinPairAndOrderKinPair.hxx>
-#include <StepBasic_MeasureWithUnit.hxx>
 #include <StepData_StepReaderData.hxx>
 #include <StepData_StepWriter.hxx>
 #include <StepKinematics_ActuatedKinPairAndOrderKinPair.hxx>
@@ -65,7 +63,6 @@
 #include <StepKinematics_UnconstrainedPairValue.hxx>
 #include <StepKinematics_UniversalPair.hxx>
 #include <StepKinematics_UniversalPairWithRange.hxx>
-#include <RWStepKinematics_RWPrismaticPairWithRange.hxx>
 
 //=======================================================================
 //function : RWStepDimTol_RWGeoTolAndGeoTolWthMod
diff --git a/src/STEPCAFControl/STEPCAFControl_Reader.cxx b/src/STEPCAFControl/STEPCAFControl_Reader.cxx
index f032fe6ae6..69bcc6f9b6 100644
--- a/src/STEPCAFControl/STEPCAFControl_Reader.cxx
+++ b/src/STEPCAFControl/STEPCAFControl_Reader.cxx
@@ -122,7 +122,6 @@
 #include <StepRepr_PropertyDefinitionRepresentation.hxx>
 #include <StepRepr_Representation.hxx>
 #include <StepRepr_RepresentationItem.hxx>
-#include <StepRepr_Transformation.hxx>
 #include <StepRepr_HArray1OfRepresentationItem.hxx>
 #include <StepRepr_RepresentationMap.hxx>
 #include <StepRepr_RepresentationRelationship.hxx>
@@ -131,7 +130,6 @@
 #include <StepRepr_ReprItemAndLengthMeasureWithUnitAndQRI.hxx>
 #include <StepRepr_ReprItemAndPlaneAngleMeasureWithUnit.hxx>
 #include <StepRepr_ReprItemAndPlaneAngleMeasureWithUnitAndQRI.hxx>
-#include <StepRepr_ShapeRepresentationRelationshipWithTransformation.hxx>
 #include <StepRepr_SequenceOfRepresentationItem.hxx>
 #include <StepRepr_ShapeAspect.hxx>
 #include <StepRepr_ShapeAspectDerivingRelationship.hxx>
@@ -274,6 +272,8 @@
 #include <StepVisual_TessellatedItem.hxx>
 #include <StepVisual_TessellatedGeometricSet.hxx>
 #include <StepVisual_TessellatedCurveSet.hxx>
+#include <StepVisual_CoordinatesList.hxx>
+// Start Added for kinematics implementation
 #include <StepKinematics_KinematicJoint.hxx>
 #include <StepKinematics_KinematicLink.hxx>
 #include <StepKinematics_PairValue.hxx>
@@ -290,17 +290,13 @@
 #include <StepKinematics_KinematicLinkRepresentationAssociation.hxx>
 #include <StepKinematics_ActuatedKinematicPair.hxx>
 #include <StepKinematics_RigidLinkRepresentation.hxx>
-#include <StepKinematics_KinematicTopologyStructure.hxx>
-#include <StepShape_Vertex.hxx>
 #include <XCAFKinematics_PairValueObject.hxx>
 #include <StepKinematics_KinematicLinkRepresentation.hxx>
 #include <StepKinematics_ProductDefinitionKinematics.hxx>
 #include <StepKinematics_SuParameters.hxx>
-#include <NCollection_Vector.hxx>
 #include <StepKinematics_ContextDependentKinematicLinkRepresentation.hxx>
 #include <StepKinematics_KinematicLinkRepresentationAssociation.hxx>
 #include <StepKinematics_ProductDefinitionRelationshipKinematics.hxx>
-//
 #include <StepKinematics_CylindricalPair.hxx>
 #include <StepKinematics_CylindricalPairWithRange.hxx>
 #include <StepKinematics_FullyConstrainedPair.hxx>
@@ -343,7 +339,6 @@
 #include <XCAFKinematics_LowOrderPairObject.hxx>
 #include <XCAFKinematics_LowOrderPairObjectWithCoupling.hxx>
 #include <XCAFKinematics_HighOrderPairObject.hxx>
-
 #include <StepKinematics_SlidingSurfacePairValue.hxx>
 #include <StepKinematics_RollingSurfacePairValue.hxx>
 #include <StepKinematics_RevolutePairValue.hxx>
@@ -364,8 +359,9 @@
 #include <StepKinematics_LinearFlexibleAndPlanarCurvePair.hxx>
 #include <StepKinematics_ActuatedKinPairAndOrderKinPair.hxx>
 #include <StepKinematics_MechanismStateRepresentation.hxx>
+// End Added for kinematics implementation
 
-
+#include <NCollection_Vector.hxx>
 #include <TColgp_HArray1OfXYZ.hxx>
 #include <BRepBuilderAPI_MakeEdge.hxx>
 #include <BRepTools.hxx>
@@ -4369,12 +4365,12 @@ Standard_Boolean addLinkWithShapes(const Handle(XSControl_WorkSession)& theWS,
   if (aShapes.Length() == 0)
     return Standard_False;
 
-  theLink = aKTool->AddLink(theMechanism, aShapes, theIsBase);
+  theLink = aKTool->AddLink(theMechanism, aShapes, theIsBase); 
+  if (theLink.IsNull())
+    return Standard_False;
   if (!aLink->Name()->IsEmpty())
     TDataStd_Name::Set(theLink, aLink->Name()->String());
 
-  if (theLink.IsNull())
-    return Standard_False;
   theMapOfLinks.Bind(theLinkRepresentation, theLink);
   return Standard_True;
 }
@@ -4757,8 +4753,9 @@ Standard_Boolean setKinematicPairValue(const Handle(XSControl_WorkSession)& theW
   if (aPairType == XCAFKinematics_PairType_NoType)
     return Standard_False;
   aValueObject->SetType(aPairType);
-  TDF_TagSource aTag;
-  TDF_Label aValueL = aTag.NewChild(theState);
+  TDF_Label aValueL = aKTool->AddValue(theState);
+  if (aValueL.IsNull())
+    return Standard_False;
 
   // Low order pairs
   if (theValue->IsKind(STANDARD_TYPE(StepKinematics_RevolutePairValue)))
@@ -5110,17 +5107,17 @@ Standard_Boolean STEPCAFControl_Reader::ReadKinematics(const Handle(XSControl_Wo
       TDataStd_Name::Set(aMechanism, aKMR->Name()->String());
 
     //Collecting Links and labels of Links
-    NCollection_DataMap<Handle(StepKinematics_KinematicLinkRepresentation), TDF_Label> theMapOfLinks;
+    NCollection_DataMap<Handle(StepKinematics_KinematicLinkRepresentation), TDF_Label> aMapOfLinks;
 
     //read base link
     if (!aKPMR->Base().IsNull())
     {
       TDF_Label aLableOfBaseLink;
-      addLinkWithShapes(theWS, theDoc, aKPMR->Base(), aMechanism, theShapeLabelMap, aLableOfBaseLink, theMapOfLinks, Standard_True);
+      addLinkWithShapes(theWS, theDoc, aKPMR->Base(), aMechanism, theShapeLabelMap, aLableOfBaseLink, aMapOfLinks, Standard_True);
     }
     
     //read joints with their links
-    NCollection_DataMap<Handle(StepKinematics_KinematicJoint), TDF_Label> theMapOfJoints;
+    NCollection_DataMap<Handle(StepKinematics_KinematicJoint), TDF_Label> aMapOfJoints;
     for (Standard_Integer aPairIndex = 1; aPairIndex <= aKMR->NbItems(); ++aPairIndex)
     {
       if (!aKMR->ItemsValue(aPairIndex)->IsKind(STANDARD_TYPE(StepKinematics_PairRepresentationRelationship)))
@@ -5128,8 +5125,7 @@ Standard_Boolean STEPCAFControl_Reader::ReadKinematics(const Handle(XSControl_Wo
       Handle(StepKinematics_PairRepresentationRelationship) aPRR =
         Handle(StepKinematics_PairRepresentationRelationship)::DownCast(aKMR->ItemsValue(aPairIndex));
       if (aPRR.IsNull()) continue;
-      Handle(StepKinematics_KinematicPair) aKinematicPair
-        = Handle(StepKinematics_KinematicPair)::DownCast(aPRR->RepresentationRelationshipWithTransformation()->TransformationOperator().KinematicPair());
+      Handle(StepKinematics_KinematicPair) aKinematicPair = aPRR->RepresentationRelationshipWithTransformation()->TransformationOperator().KinematicPair();
       if (aKinematicPair.IsNull())
         continue;
       //find joint & links
@@ -5143,9 +5139,9 @@ Standard_Boolean STEPCAFControl_Reader::ReadKinematics(const Handle(XSControl_Wo
       if (aLinkRepresentation1.IsNull() || aLinkRepresentation2.IsNull())
         continue;
       TDF_Label aJoint, aLink1, aLink2;
-      if (!addLinkWithShapes(theWS, theDoc, aLinkRepresentation1, aMechanism, theShapeLabelMap, aLink1, theMapOfLinks))
+      if (!addLinkWithShapes(theWS, theDoc, aLinkRepresentation1, aMechanism, theShapeLabelMap, aLink1, aMapOfLinks))
         continue;
-      if (!addLinkWithShapes(theWS, theDoc, aLinkRepresentation2, aMechanism, theShapeLabelMap, aLink2, theMapOfLinks))
+      if (!addLinkWithShapes(theWS, theDoc, aLinkRepresentation2, aMechanism, theShapeLabelMap, aLink2, aMapOfLinks))
         continue;
       //Setting info
       aJoint = aKTool->AddJoint(aMechanism, aLink1, aLink2);
@@ -5155,7 +5151,7 @@ Standard_Boolean STEPCAFControl_Reader::ReadKinematics(const Handle(XSControl_Wo
         continue;
       setKinematicPairLimit(aKinematicPair, aPairObject);
       aCAFKinPair->SetObject(aPairObject);
-      theMapOfJoints.Bind(aKinematicJoint, aJoint);
+      aMapOfJoints.Bind(aKinematicJoint, aJoint);
     }
 
     // (optional)
@@ -5173,7 +5169,7 @@ Standard_Boolean STEPCAFControl_Reader::ReadKinematics(const Handle(XSControl_Wo
         Handle(StepKinematics_KinematicJoint) aKinematicJoint = aValue->AppliesToPair()->Joint();
         if (aKinematicJoint.IsNull())
           continue;
-        TDF_Label aJoint = theMapOfJoints.Find(aKinematicJoint);
+        TDF_Label aJoint = aMapOfJoints.Find(aKinematicJoint);
         setKinematicPairValue(theWS, theDoc, aKinematicJoint, aValue, aState, aJoint);
       }
     }
diff --git a/src/STEPCAFControl/STEPCAFControl_Writer.cxx b/src/STEPCAFControl/STEPCAFControl_Writer.cxx
index e96c2aee63..6aa1ee7d8e 100644
--- a/src/STEPCAFControl/STEPCAFControl_Writer.cxx
+++ b/src/STEPCAFControl/STEPCAFControl_Writer.cxx
@@ -184,9 +184,10 @@
 #include <StepVisual_SurfaceStyleUsage.hxx>
 #include <StepVisual_TessellatedAnnotationOccurrence.hxx>
 #include <StepVisual_TessellatedGeometricSet.hxx>
-
+// Start Added for kinematics implementation
 #include <StepKinematics_KinematicJoint.hxx>
 #include <StepKinematics_KinematicLink.hxx>
+#include <StepKinematics_LinearFlexibleLinkRepresentation.hxx>
 #include <StepKinematics_PairValue.hxx>
 #include <StepKinematics_KinematicPropertyMechanismRepresentation.hxx>
 #include <StepKinematics_MechanismRepresentation.hxx>
@@ -194,24 +195,17 @@
 #include <StepKinematics_KinematicPair.hxx>
 #include <StepKinematics_KinematicJoint.hxx>
 #include <StepKinematics_PairValue.hxx>
-#include <XCAFDoc_KinematicPairValue.hxx>
 #include <StepKinematics_KinematicLink.hxx>
-#include <XCAFDoc_KinematicTool.hxx>
-#include <XCAFKinematics_PairObject.hxx>
 #include <StepKinematics_KinematicLinkRepresentationAssociation.hxx>
 #include <StepKinematics_ActuatedKinematicPair.hxx>
 #include <StepKinematics_RigidLinkRepresentation.hxx>
 #include <StepKinematics_KinematicTopologyStructure.hxx>
 #include <StepShape_Vertex.hxx>
-#include <XCAFKinematics_PairValueObject.hxx>
 #include <StepKinematics_KinematicLinkRepresentation.hxx>
 #include <StepKinematics_ProductDefinitionKinematics.hxx>
-#include <StepKinematics_SuParameters.hxx>
-#include <NCollection_Vector.hxx>
 #include <StepKinematics_ContextDependentKinematicLinkRepresentation.hxx>
 #include <StepKinematics_KinematicLinkRepresentationAssociation.hxx>
 #include <StepKinematics_ProductDefinitionRelationshipKinematics.hxx>
-
 #include <StepKinematics_CylindricalPair.hxx>
 #include <StepKinematics_CylindricalPairWithRange.hxx>
 #include <StepKinematics_FullyConstrainedPair.hxx>
@@ -251,10 +245,6 @@
 #include <StepKinematics_UnconstrainedPairValue.hxx>
 #include <StepKinematics_UniversalPair.hxx>
 #include <StepKinematics_UniversalPairWithRange.hxx>
-#include <XCAFKinematics_LowOrderPairObject.hxx>
-#include <XCAFKinematics_LowOrderPairObjectWithCoupling.hxx>
-#include <XCAFKinematics_HighOrderPairObject.hxx>
-
 #include <StepKinematics_SlidingSurfacePairValue.hxx>
 #include <StepKinematics_RollingSurfacePairValue.hxx>
 #include <StepKinematics_RevolutePairValue.hxx>
@@ -276,6 +266,18 @@
 #include <StepKinematics_ActuatedKinPairAndOrderKinPair.hxx>
 #include <StepKinematics_MechanismStateRepresentation.hxx>
 
+#include <XCAFKinematics_LowOrderPairObjectWithCoupling.hxx>
+#include <XCAFKinematics_HighOrderPairObject.hxx>
+#include <XCAFKinematics_LowOrderPairObject.hxx>
+#include <XCAFKinematics_PairValueObject.hxx>
+#include <XCAFKinematics_PairObject.hxx>
+#include <XCAFKinematics_PairObject.hxx>
+#include <XCAFKinematics_PairType.hxx>
+#include <XCAFDoc_KinematicPairValue.hxx>
+#include <XCAFDoc_KinematicTool.hxx>
+#include <XCAFDoc_KinematicPair.hxx>
+// End Added for kinematics implementation
+
 #include <TCollection_AsciiString.hxx>
 #include <TCollection_HAsciiString.hxx>
 #include <TColStd_HArray1OfReal.hxx>
@@ -308,15 +310,6 @@
 #include <TransferBRep.hxx>
 #include <TransferBRep_ShapeMapper.hxx>
 #include <XCAFDimTolObjects_DatumObject.hxx>
-#include <XCAFKinematics_PairObject.hxx>
-#include <XCAFKinematics_PairValueObject.hxx>
-#include <XCAFKinematics_PairType.hxx>
-#include <XCAFKinematics_HighOrderPairObject.hxx>
-#include <XCAFKinematics_LowOrderPairObject.hxx>
-#include <XCAFKinematics_LowOrderPairObjectWithCoupling.hxx>
-#include <XCAFDoc_KinematicTool.hxx>
-#include <XCAFDoc_KinematicPairValue.hxx>
-#include <XCAFDoc_KinematicPair.hxx>
 #include <XCAFDimTolObjects_DimensionFormVariance.hxx>
 #include <XCAFDimTolObjects_DimensionGrade.hxx>
 #include <XCAFDimTolObjects_DimensionObject.hxx>
@@ -2205,6 +2198,7 @@ static Standard_Boolean createKinematicLink(const Handle(Transfer_FinderProcess)
                                             const Handle(XCAFDoc_KinematicTool)& theKTool,
                                             const Interface_Graph& theGraph,
                                             const TDF_Label& theLabelLink,  
+                                            Handle(StepKinematics_KinematicLinkRepresentation)& theLinkRepresentation,
                                             Handle(StepKinematics_KinematicLink)& theLink,
                                             Handle(StepShape_ShapeRepresentation)& theShapeRepr,
                                             Handle(StepRepr_PropertyDefinition)& thePDS)
@@ -2231,6 +2225,26 @@ static Standard_Boolean createKinematicLink(const Handle(Transfer_FinderProcess)
     return Standard_False;
   }
 
+  //Choose type of the representation link
+  TDF_LabelSequence aJoints = theKTool->GetJointsOfLink(theLabelLink,Standard_True,Standard_False);
+  Standard_Boolean isLinear = Standard_False;
+  for (Standard_Integer anIndOfJoint = 1; anIndOfJoint <= aJoints.Length(); ++anIndOfJoint)
+  {
+    Handle(XCAFDoc_KinematicPair) aKPairAttr;
+    if (!aJoints(anIndOfJoint).FindAttribute(XCAFDoc_KinematicPair::GetID(), aKPairAttr))
+      continue;
+    Handle(XCAFKinematics_PairObject) aPairObject = aKPairAttr->GetObject();
+    if (aPairObject->Type() == XCAFKinematics_PairType_LinearFlexibleAndPinion ||
+        aPairObject->Type() == XCAFKinematics_PairType_LinearFlexibleAndPlanarCurve)
+      isLinear = Standard_True;
+    else if(isLinear)
+      return Standard_False;
+  }
+  if (isLinear)
+    theLinkRepresentation = new StepKinematics_LinearFlexibleLinkRepresentation;
+  else
+    theLinkRepresentation = new StepKinematics_RigidLinkRepresentation;
+
   // get PDS of Shape
   Interface_EntityIterator anIter = theGraph.Sharings(seqRI.Value(1));
   for (anIter.Start(); anIter.More() && thePDS.IsNull(); anIter.Next()) {
@@ -2260,9 +2274,9 @@ static Standard_Boolean createKinematicJoint(const Handle(Transfer_FinderProcess
                                              const Interface_Graph& theGraph,
                                              const TDF_Label& theLabelJoint,
                                              const Handle(XCAFKinematics_PairObject)& theKinPairObj,
-                                             const NCollection_DataMap<TDF_Label, Handle(StepKinematics_RigidLinkRepresentation), TDF_LabelMapHasher>& theMapOfLinks,
-                                             Handle(StepKinematics_RigidLinkRepresentation)& theRigLinkRepr1,
-                                             Handle(StepKinematics_RigidLinkRepresentation)& theRigLinkRepr2,
+                                             const NCollection_IndexedDataMap<TDF_Label, Handle(StepKinematics_KinematicLinkRepresentation), TDF_LabelMapHasher>& theMapOfLinks,
+                                             Handle(StepKinematics_KinematicLinkRepresentation)& theLinkRepr1,
+                                             Handle(StepKinematics_KinematicLinkRepresentation)& theLinkRepr2,
                                              Handle(StepKinematics_KinematicJoint)& theJoint)
 {
   TDF_Label aLinkStartL, aLinkEndL;
@@ -2270,21 +2284,21 @@ static Standard_Boolean createKinematicJoint(const Handle(Transfer_FinderProcess
   theKTool->GetLinksOfJoint(theLabelJoint, aLinkStartL, aLinkEndL);
   Handle(TCollection_HAsciiString) aNameJoint = new TCollection_HAsciiString(theKinPairObj->Name());
 
-  Handle(StepShape_Vertex) aEdgeStart;
-  Handle(StepShape_Vertex) aEdgeEnd;
+  Handle(StepShape_Vertex) anEdgeStart;
+  Handle(StepShape_Vertex) anEdgeEnd;
 
-  if (!theMapOfLinks.Find(aLinkStartL, theRigLinkRepr1))
+  if (!theMapOfLinks.FindFromKey(aLinkStartL, theLinkRepr1))
     return Standard_False;
-  if (!theMapOfLinks.Find(aLinkEndL, theRigLinkRepr2))
+  if (!theMapOfLinks.FindFromKey(aLinkEndL, theLinkRepr2))
     return Standard_False;
 
-  aEdgeStart = theRigLinkRepr1->RepresentedLink();
-  aEdgeEnd = theRigLinkRepr2->RepresentedLink();
+  anEdgeStart = theLinkRepr1->RepresentedLink();
+  anEdgeEnd = theLinkRepr2->RepresentedLink();
 
-  if (aEdgeEnd.IsNull() || aEdgeStart.IsNull())
+  if (anEdgeEnd.IsNull() || anEdgeStart.IsNull())
     return Standard_False;
 
-  theJoint->Init(aNameJoint, aEdgeStart, aEdgeEnd);
+  theJoint->Init(aNameJoint, anEdgeStart, anEdgeEnd);
   return Standard_True;
 }
 
@@ -2295,24 +2309,24 @@ static Standard_Boolean createKinematicJoint(const Handle(Transfer_FinderProcess
 static Standard_Boolean createKinematicPair(const Handle(XCAFKinematics_PairObject)& theKinPairObj,
                                             const Handle(StepKinematics_KinematicJoint)& theJoint,
                                             Handle(StepKinematics_KinematicPair)& theKinematicPair,
-                                            Handle(StepKinematics_RigidLinkRepresentation)& theRigLinkRepr1,
-                                            Handle(StepKinematics_RigidLinkRepresentation)& theRigLinkRepr2)
+                                            Handle(StepKinematics_KinematicLinkRepresentation)& theLinkRepr1,
+                                            Handle(StepKinematics_KinematicLinkRepresentation)& theLinkRepr2)
 {
   if (theKinPairObj->Type() == XCAFKinematics_PairType_NoType)
     return Standard_False;
   Handle(StepRepr_RepresentationItem) theTransformItem1 = GeomToStep_MakeAxis2Placement3d(theKinPairObj->FirstTransformation()).Value();
   Handle(StepRepr_RepresentationItem) theTransformItem2 = GeomToStep_MakeAxis2Placement3d(theKinPairObj->SecondTransformation()).Value();
 
-  theRigLinkRepr1->Items()->Resize(theRigLinkRepr1->Items()->Lower(), theRigLinkRepr1->Items()->Upper() + 1, Standard_True);
-  theRigLinkRepr1->Items()->ChangeLast() = theTransformItem1;
+  theLinkRepr1->Items()->Resize(theLinkRepr1->Items()->Lower(), theLinkRepr1->Items()->Upper() + 1, Standard_True);
+  theLinkRepr1->Items()->ChangeLast() = theTransformItem1;
 
-  theRigLinkRepr2->Items()->Resize(theRigLinkRepr2->Items()->Lower(), theRigLinkRepr2->Items()->Upper() + 1, Standard_True);
-  theRigLinkRepr2->Items()->ChangeLast() = theTransformItem2;
+  theLinkRepr2->Items()->Resize(theLinkRepr2->Items()->Lower(), theLinkRepr2->Items()->Upper() + 1, Standard_True);
+  theLinkRepr2->Items()->ChangeLast() = theTransformItem2;
 
   Standard_Boolean hasDescription = Standard_False;
   Handle(TCollection_HAsciiString) aPairName = new TCollection_HAsciiString(theKinPairObj->Name());
   Handle(TCollection_HAsciiString) aDescription;
-  Standard_Boolean aHasRange = theKinPairObj->HasLimits();
+  Standard_Boolean isRanged = theKinPairObj->HasLimits();
   if (theKinPairObj->IsKind(STANDARD_TYPE(XCAFKinematics_LowOrderPairObject)))
   {
     Handle(XCAFKinematics_LowOrderPairObject) aLowOrderPairObj = Handle(XCAFKinematics_LowOrderPairObject)::DownCast(theKinPairObj);
@@ -2331,7 +2345,7 @@ static Standard_Boolean createKinematicPair(const Handle(XCAFKinematics_PairObje
       aTZ = Standard_False;
       aRX = Standard_False;
       aRY = Standard_False;
-      if (aHasRange)
+      if (isRanged)
       {
         theKinematicPair = new StepKinematics_RevolutePairWithRange;
         Standard_Real aLowerLimitActualRotation = aLowOrderPairObj->MinRotationZ();
@@ -2359,7 +2373,7 @@ static Standard_Boolean createKinematicPair(const Handle(XCAFKinematics_PairObje
       aRX = Standard_False;
       aRY = Standard_False;
       aRZ = Standard_False;
-      if (aHasRange)
+      if (isRanged)
       {
         theKinematicPair = new StepKinematics_PrismaticPairWithRange;
         Handle(StepKinematics_PrismaticPairWithRange) aPrismaticPairWithRange = Handle(StepKinematics_PrismaticPairWithRange)::DownCast(theKinematicPair);
@@ -2385,7 +2399,7 @@ static Standard_Boolean createKinematicPair(const Handle(XCAFKinematics_PairObje
       aTY = Standard_False;
       aRX = Standard_False;
       aRY = Standard_False;
-      if (aHasRange)
+      if (isRanged)
       {
         theKinematicPair = new StepKinematics_CylindricalPairWithRange;
         Handle(StepKinematics_CylindricalPairWithRange) aCylindricalPairWithRange = Handle(StepKinematics_CylindricalPairWithRange)::DownCast(theKinematicPair);
@@ -2415,7 +2429,7 @@ static Standard_Boolean createKinematicPair(const Handle(XCAFKinematics_PairObje
       aTZ = Standard_False;
       aRY = Standard_False;
       Standard_Real theUniversalPair_InputSkewAngle = aLowOrderPairObj->SkewAngle();
-      if (aHasRange)
+      if (isRanged)
       {
         theKinematicPair = new StepKinematics_UniversalPairWithRange;
         Handle(StepKinematics_UniversalPairWithRange) anUniversalPairWithRange = Handle(StepKinematics_UniversalPairWithRange)::DownCast(theKinematicPair);
@@ -2445,7 +2459,7 @@ static Standard_Boolean createKinematicPair(const Handle(XCAFKinematics_PairObje
       aTZ = Standard_False;
       aRX = Standard_False;
       aRY = Standard_False;
-      if (aHasRange)
+      if (isRanged)
       {
         Standard_Real aUpperLimitYaw = aLowOrderPairObj->MaxRotationZ();
         Standard_Real aLowerLimitYaw = aLowOrderPairObj->MinRotationZ();
@@ -2473,7 +2487,7 @@ static Standard_Boolean createKinematicPair(const Handle(XCAFKinematics_PairObje
       aTX = Standard_False;
       aTY = Standard_False;
       aTZ = Standard_False;
-      if (aHasRange)
+      if (isRanged)
       {
         Standard_Real aUpperLimitYaw = aLowOrderPairObj->MaxRotationZ();
         Standard_Real aLowerLimitYaw = aLowOrderPairObj->MinRotationZ();
@@ -2500,7 +2514,7 @@ static Standard_Boolean createKinematicPair(const Handle(XCAFKinematics_PairObje
     }
     case(XCAFKinematics_PairType_Planar):
     {
-      if (aHasRange)
+      if (isRanged)
         theKinematicPair = new StepKinematics_PlanarPairWithRange;
       else
         theKinematicPair = new StepKinematics_PlanarPair;
@@ -2508,7 +2522,7 @@ static Standard_Boolean createKinematicPair(const Handle(XCAFKinematics_PairObje
       aTZ = Standard_False;
       aRX = Standard_False;
       aRY = Standard_False;
-      if (aHasRange)
+      if (isRanged)
       {
         theKinematicPair = new StepKinematics_PlanarPairWithRange;
         Handle(StepKinematics_PlanarPairWithRange) aPlanarPairWithRange = Handle(StepKinematics_PlanarPairWithRange)::DownCast(theKinematicPair);
@@ -2598,7 +2612,7 @@ static Standard_Boolean createKinematicPair(const Handle(XCAFKinematics_PairObje
     case(XCAFKinematics_PairType_Screw):
     {
       Standard_Real aPitch = aLowOrderPairObjectWithCoupling->Pitch();
-      if (aHasRange)
+      if (isRanged)
       {
         theKinematicPair = new StepKinematics_ScrewPairWithRange;
         Handle(StepKinematics_ScrewPairWithRange) aScrewPairWithRange = Handle(StepKinematics_ScrewPairWithRange)::DownCast(theKinematicPair);
@@ -2620,7 +2634,7 @@ static Standard_Boolean createKinematicPair(const Handle(XCAFKinematics_PairObje
     case(XCAFKinematics_PairType_RackAndPinion):
     {
       Standard_Real aPinionRadius = aLowOrderPairObjectWithCoupling->PinionRadius();
-      if (aHasRange)
+      if (isRanged)
       {
         theKinematicPair = new StepKinematics_RackAndPinionPairWithRange;
         Standard_Real aLowLimit = aLowOrderPairObjectWithCoupling->LowLimit();
@@ -2647,7 +2661,7 @@ static Standard_Boolean createKinematicPair(const Handle(XCAFKinematics_PairObje
       Standard_Real aHelicalAngle = aLowOrderPairObjectWithCoupling->HelicalAngle();
       Standard_Real aRadiusFirstLink = aLowOrderPairObjectWithCoupling->RadiusFirstLink();;
       Standard_Real aRadiusSecondLink = aLowOrderPairObjectWithCoupling->RadiusSecondLink();;
-      if (aHasRange)
+      if (isRanged)
       {
         Standard_Real aLowLimit = aLowOrderPairObjectWithCoupling->LowLimit();
         Standard_Real aUpperLimit = aLowOrderPairObjectWithCoupling->UpperLimit();
@@ -2688,7 +2702,7 @@ static Standard_Boolean createKinematicPair(const Handle(XCAFKinematics_PairObje
     {
     case(XCAFKinematics_PairType_PointOnSurface):
     {
-      if (aHasRange)
+      if (isRanged)
       {
         GeomToStep_MakeSurface aMaker(aHighOrderPairObject->Surface());
         Handle(StepGeom_Surface) aPairSurface = aMaker.Value();
@@ -2748,7 +2762,7 @@ static Standard_Boolean createKinematicPair(const Handle(XCAFKinematics_PairObje
       GeomToStep_MakeCurve aMaker(aHighOrderPairObject->Curve());
       Handle(StepGeom_Curve) aPairCurve = aMaker.Value();
       Standard_Boolean anOrientation = aHighOrderPairObject->Orientation();
-      if (aHasRange)
+      if (isRanged)
       {
         Standard_Real aLowerLimitYaw = aHighOrderPairObject->LowLimitYaw();
         Standard_Real aUpperLimitYaw = aHighOrderPairObject->UpperLimitYaw();
@@ -2822,7 +2836,7 @@ static Standard_Boolean createKinematicPair(const Handle(XCAFKinematics_PairObje
     case(XCAFKinematics_PairType_LinearFlexibleAndPlanarCurve):
     {
       theKinematicPair = new StepKinematics_LinearFlexibleAndPlanarCurvePair;
-      GeomToStep_MakeCurve aMaker(aHighOrderPairObject->Curve());
+      GeomToStep_MakeCurve aMaker(aHighOrderPairObject->FirstCurve());
       Handle(StepGeom_Curve) aPairCurve = aMaker.Value();
       Standard_Boolean anOrientation = aHighOrderPairObject->Orientation();
       Handle(StepKinematics_LinearFlexibleAndPlanarCurvePair) aLinearFlexibleAndPlanarCurvePair = Handle(StepKinematics_LinearFlexibleAndPlanarCurvePair)::DownCast(theKinematicPair);
@@ -3123,26 +3137,27 @@ Standard_EXPORT Standard_Boolean STEPCAFControl_Writer::WriteKinematics(const Ha
     TDF_LabelSequence aSeqOfLinskL = aKTool->GetLinks(aMechanismsL.Value(aMechInd));
     if (aSeqOfLinskL.Length() <= 0)
       continue;
-    NCollection_DataMap<TDF_Label, Handle(StepKinematics_RigidLinkRepresentation), TDF_LabelMapHasher> aMapOfLinks;
+    NCollection_IndexedDataMap<TDF_Label, Handle(StepKinematics_KinematicLinkRepresentation), TDF_LabelMapHasher> aMapOfLinks;
 
     for (Standard_Integer aLinkInd = 1; aLinkInd <= aSeqOfLinskL.Length(); aLinkInd++)
     {
       TDF_Label aLinkL = aSeqOfLinskL.Value(aLinkInd);
       Handle(StepKinematics_KinematicLink) aLink;
       Handle(StepShape_ShapeRepresentation) aRefShapeOfLink;
-      Handle(StepRepr_PropertyDefinition) aPD;
-      if (!createKinematicLink(FP, aKTool, aGraph, aLinkL, aLink, aRefShapeOfLink, aPD))
+      Handle(StepRepr_PropertyDefinition) aPD;    
+      Handle(StepKinematics_KinematicLinkRepresentation) aLinkRepresentation;
+      if (!createKinematicLink(FP, aKTool, aGraph, aLinkL, aLinkRepresentation, aLink, aRefShapeOfLink, aPD))
         continue;
       Handle(StepRepr_RepresentationContext) aRepresentationContextOfLink = aRefShapeOfLink->ContextOfItems();
-      Handle(StepKinematics_RigidLinkRepresentation) aLinkRepresentation = new StepKinematics_RigidLinkRepresentation;
+
       Handle(TCollection_HAsciiString) aNameOfLinkRepr = new TCollection_HAsciiString("");
       Handle(StepRepr_HArray1OfRepresentationItem) aPlacementsOfPairs = new StepRepr_HArray1OfRepresentationItem;
       aLinkRepresentation->Init(aNameOfLinkRepr, aPlacementsOfPairs, aRepresentationContextOfLink, aLink);
-      aMapOfLinks.Bind(aSeqOfLinskL(aLinkInd), aLinkRepresentation);
+      aMapOfLinks.Add(aSeqOfLinskL(aLinkInd), aLinkRepresentation);
 
       Handle(TDataStd_Integer) aBase;
       if (aBaseLinkOfMech.IsNull() && aLinkL.FindAttribute(TDataStd_Integer::GetID(), aBase))
-        aBaseLinkOfMech = aLinkRepresentation;
+        aBaseLinkOfMech = Handle(StepKinematics_RigidLinkRepresentation)::DownCast(aLinkRepresentation);
 
       Handle(StepKinematics_KinematicLinkRepresentationAssociation) aLinkRepresentationAssociation = new StepKinematics_KinematicLinkRepresentationAssociation;
       aLinkRepresentationAssociation->Init(aNameOfLinkRepr, aNameOfLinkRepr, aLinkRepresentation, aRefShapeOfLink);
@@ -3161,8 +3176,10 @@ Standard_EXPORT Standard_Boolean STEPCAFControl_Writer::WriteKinematics(const Ha
       continue;
 
     // if not found base link in OCAF
-    // first link became base of the mechanism
-    if (aBaseLinkOfMech.IsNull() && !aMapOfLinks.Find(aSeqOfLinskL(1), aBaseLinkOfMech))
+    // first rigid link became base of the mechanism
+    for (Standard_Integer anIndOfLink = 1; anIndOfLink <= aMapOfLinks.Size() && aBaseLinkOfMech.IsNull(); ++anIndOfLink)
+      aBaseLinkOfMech = Handle(StepKinematics_RigidLinkRepresentation)::DownCast(aMapOfLinks.FindFromIndex(anIndOfLink));
+    if (aBaseLinkOfMech.IsNull())
       continue;
 
     // write joints
@@ -3185,21 +3202,22 @@ Standard_EXPORT Standard_Boolean STEPCAFControl_Writer::WriteKinematics(const Ha
       if (!aJointL.FindAttribute(XCAFDoc_KinematicPair::GetID(), aKPairAttr))
         continue;
       Handle(XCAFKinematics_PairObject) aPairObject = aKPairAttr->GetObject();
-      Handle(StepKinematics_RigidLinkRepresentation) aRigLinkRepr1;
-      Handle(StepKinematics_RigidLinkRepresentation) aRigLinkRepr2;
-      if (!createKinematicJoint(FP, aKTool, aGraph, aJointL, aPairObject, aMapOfLinks, aRigLinkRepr1, aRigLinkRepr2, aJoint))
+      Handle(StepKinematics_KinematicLinkRepresentation) aLinkRepr1;
+      Handle(StepKinematics_KinematicLinkRepresentation) aLinkRepr2;
+      if (!createKinematicJoint(FP, aKTool, aGraph, aJointL, aPairObject, aMapOfLinks, aLinkRepr1, aLinkRepr2, aJoint))
         continue;
-      if (!createKinematicPair(aPairObject,aJoint,aKinematicPair, aRigLinkRepr1, aRigLinkRepr2))
+      if (!createKinematicPair(aPairObject,aJoint,aKinematicPair, aLinkRepr1, aLinkRepr2))
         continue;
       aMapofJoints.Add(aSeqOfJointsL(aJointInd), aJoint);
       Handle(StepKinematics_PairRepresentationRelationship) aPairReprRelationship = new StepKinematics_PairRepresentationRelationship;
       StepRepr_RepresentationOrRepresentationReference aDataLinkStart;
-      aDataLinkStart.SetValue(aRigLinkRepr1);
+      aDataLinkStart.SetValue(aLinkRepr1);
       StepRepr_RepresentationOrRepresentationReference aDataLinkEnd;
-      aDataLinkEnd.SetValue(aRigLinkRepr2);
+      aDataLinkEnd.SetValue(aLinkRepr2);
       StepRepr_Transformation aPair;
       aPair.SetValue(aKinematicPair);
-      aPairReprRelationship->Init(aKinematicPair->Name(), aKinematicPair->Name(), Standard_False, aKinematicPair->Name(), aDataLinkStart, aDataLinkEnd, aPair);
+      Handle(TCollection_HAsciiString) aDescription;
+      aPairReprRelationship->Init(aKinematicPair->Name(), aKinematicPair->Name(), Standard_False, aDescription, aDataLinkStart, aDataLinkEnd, aPair);
       anArrayOfPairs->SetValue(aJointInd, aPairReprRelationship);
 
       Model->AddEntity(aJoint);
@@ -3246,8 +3264,6 @@ Standard_EXPORT Standard_Boolean STEPCAFControl_Writer::WriteKinematics(const Ha
         Handle(TDataStd_Name) aNameAttr;
         if (aSeqOfValues(aValueInd).FindAttribute(TDataStd_Name::GetID(), aNameAttr))
           aNameOfValue = new TCollection_HAsciiString(aNameAttr->Get());
-        if (!aSeqOfValues(aValueInd).FindAttribute(XCAFDoc_KinematicPairValue::GetID(), aKPairValueAttr))
-          continue;
         Handle(XCAFKinematics_PairValueObject) aPairValueObject = aKPairValueAttr->GetObject();
         Handle(StepKinematics_PairValue) aPairValue;
         if (!createKinematicPairValue(aPairValueObject, aPairReprRelationship, aPairValue))
diff --git a/src/STEPCAFControl/STEPCAFControl_Writer.hxx b/src/STEPCAFControl/STEPCAFControl_Writer.hxx
index 371cf0ac03..2b90bbfed5 100644
--- a/src/STEPCAFControl/STEPCAFControl_Writer.hxx
+++ b/src/STEPCAFControl/STEPCAFControl_Writer.hxx
@@ -156,8 +156,6 @@ public:
   Standard_EXPORT Standard_Boolean GetKinematicsMode() const;
 
 
-
-
 protected:
   //! Mehod to writing sequence of root assemblies or part of the file specified by use by one label 
   Standard_EXPORT Standard_Boolean Transfer (const TDF_LabelSequence& L, const STEPControl_StepModelType mode = STEPControl_AsIs, const Standard_CString multi = 0);
diff --git a/src/XCAFDoc/GUID.txt b/src/XCAFDoc/GUID.txt
index 8baa4fc485..27c50c1f03 100755
--- a/src/XCAFDoc/GUID.txt
+++ b/src/XCAFDoc/GUID.txt
@@ -51,6 +51,7 @@ efd212f7-6dfd-11d4-b9c8-0060b0ee281b
 CD65A782-448C-4935-8499-2210D970C175: Kinematics attributes
 35FF1462-E684-465F-B0B9-5CAD14B5018F
 6AA96F91-7436-46F9-A955-4B3CCC42592B
+596B048C-A965-4514-A059-464560BFAE4E
 89FB0996-A8B8-4085-87A9-63AB5D56D8C1
 8A9E9B60-7CA1-45F1-882A-42390D4DB894
 6BE4AAD0-36BE-4D17-B65C-0B2062E04D92
diff --git a/src/XCAFDoc/XCAFDoc_KinematicPair.cxx b/src/XCAFDoc/XCAFDoc_KinematicPair.cxx
index a30ace0155..49da1784c0 100644
--- a/src/XCAFDoc/XCAFDoc_KinematicPair.cxx
+++ b/src/XCAFDoc/XCAFDoc_KinematicPair.cxx
@@ -186,8 +186,8 @@ void XCAFDoc_KinematicPair::SetObject(const Handle(XCAFKinematics_PairObject)& t
       TNaming_Builder aTNBuild(Label().FindChild(ChildLab_FirstGeomParam));
       aTNBuild.Generated(anEdge);
     }
-    if (theObject->Type() >= XCAFKinematics_PairType_SlidingCurve &&
-        theObject->Type() <= XCAFKinematics_PairType_LinearFlexibleAndPlanarCurve)
+    if (anObject->Type() == XCAFKinematics_PairType_SlidingCurve ||
+        anObject->Type() == XCAFKinematics_PairType_RollingCurve)
     {
       TopoDS_Edge anEdge1, anEdge2;
       if (!anObject->FirstCurve().IsNull()) {
@@ -201,6 +201,15 @@ void XCAFDoc_KinematicPair::SetObject(const Handle(XCAFKinematics_PairObject)& t
         aTNBuild2.Generated(anEdge2);
       }
     }
+    if (anObject->Type() == XCAFKinematics_PairType_LinearFlexibleAndPlanarCurve)
+    {
+      TopoDS_Edge anEdge;
+      if (!anObject->FirstCurve().IsNull()) {
+        aBuilder.MakeEdge(anEdge, anObject->FirstCurve(), Precision::Confusion());
+        TNaming_Builder aTNBuild1(Label().FindChild(ChildLab_FirstGeomParam));
+        aTNBuild1.Generated(anEdge);
+      }
+    }
   }
 }
 
@@ -318,8 +327,8 @@ Handle(XCAFKinematics_PairObject) XCAFDoc_KinematicPair::GetObject()  const
         aDefObject->SetCurve(BRep_Tool::Curve(anEdge, aFirst, aLast));
       }
     }
-    if (anObject->Type() >= XCAFKinematics_PairType_SlidingCurve &&
-        anObject->Type() <= XCAFKinematics_PairType_LinearFlexibleAndPlanarCurve)
+    if (anObject->Type() == XCAFKinematics_PairType_SlidingCurve ||
+        anObject->Type() == XCAFKinematics_PairType_RollingCurve)
     {
       if (Label().FindChild(ChildLab_FirstGeomParam).FindAttribute(TNaming_NamedShape::GetID(), aNS))
       {
@@ -334,6 +343,15 @@ Handle(XCAFKinematics_PairObject) XCAFDoc_KinematicPair::GetObject()  const
         aDefObject->SetSecondCurve(BRep_Tool::Curve(anEdge, aFirst, aLast));
       }
     }
+    if (anObject->Type() == XCAFKinematics_PairType_LinearFlexibleAndPlanarCurve)
+    {
+      if (Label().FindChild(ChildLab_FirstGeomParam).FindAttribute(TNaming_NamedShape::GetID(), aNS))
+      {
+        TopoDS_Edge anEdge = TopoDS::Edge(TNaming_Tool::GetShape(aNS));
+        Standard_Real aFirst, aLast;
+        aDefObject->SetFirstCurve(BRep_Tool::Curve(anEdge, aFirst, aLast));
+      }
+    }
   }
 
   return anObject;
diff --git a/src/XCAFDoc/XCAFDoc_KinematicTool.cxx b/src/XCAFDoc/XCAFDoc_KinematicTool.cxx
index 027601696f..32f3145557 100644
--- a/src/XCAFDoc/XCAFDoc_KinematicTool.cxx
+++ b/src/XCAFDoc/XCAFDoc_KinematicTool.cxx
@@ -119,6 +119,9 @@ void XCAFDoc_KinematicTool::RemoveMechanism(const TDF_Label& theLabel)
     RemoveLink(aLinkIt.Value());
   for (TDF_ChildIterator aJointIt(getRootOfJoints(theLabel)); aJointIt.More(); aJointIt.Next())
     RemoveJoint(aJointIt.Value());
+  if (!getRootOfStates(theLabel).IsNull())
+    for (TDF_ChildIterator aStateIt(getRootOfStates(theLabel)); aStateIt.More(); aStateIt.Next())
+      RemoveState(aStateIt.Value());
 
   theLabel.ForgetAllAttributes();
 }
@@ -477,7 +480,9 @@ void XCAFDoc_KinematicTool::GetLinksOfJoint(const TDF_Label& theJoint,
 //function : GetJointsOfLink
 //purpose  : 
 //=======================================================================
-TDF_LabelSequence XCAFDoc_KinematicTool::GetJointsOfLink(const TDF_Label& theLink) const
+TDF_LabelSequence XCAFDoc_KinematicTool::GetJointsOfLink(const TDF_Label& theLink,
+                                                         const Standard_Boolean& toFirst,
+                                                         const Standard_Boolean& toSecond) const
 {
   TDF_LabelSequence aJointsArray;
   if (!IsLink(theLink))
@@ -485,7 +490,7 @@ TDF_LabelSequence XCAFDoc_KinematicTool::GetJointsOfLink(const TDF_Label& theLin
 
   Handle(TDataStd_TreeNode) aNode, aChildNode;
 
-  if (theLink.FindAttribute(XCAFDoc::KinematicRefLink1GUID(), aNode)) {
+  if (toFirst && theLink.FindAttribute(XCAFDoc::KinematicRefLink1GUID(), aNode)) {
     aChildNode = aNode->First();
     while (!aChildNode.IsNull()) {
       aJointsArray.Append(aChildNode->Label());
@@ -493,7 +498,7 @@ TDF_LabelSequence XCAFDoc_KinematicTool::GetJointsOfLink(const TDF_Label& theLin
     }
   }
 
-  if (theLink.FindAttribute(XCAFDoc::KinematicRefLink2GUID(), aNode)) {
+  if (toSecond && theLink.FindAttribute(XCAFDoc::KinematicRefLink2GUID(), aNode)) {
     aChildNode = aNode->First();
     while (!aChildNode.IsNull()) {
       aJointsArray.Append(aChildNode->Label());
@@ -527,6 +532,36 @@ TDF_Label XCAFDoc_KinematicTool::AddState(const TDF_Label& theMechanism)
   return aState;
 }
 
+//=======================================================================
+//function : AddValue
+//purpose  : 
+//=======================================================================
+TDF_Label XCAFDoc_KinematicTool::AddValue(const TDF_Label& theState)
+{
+  if(!IsMechanism(theState.Father().Father()) &&
+     theState.Father().Tag() != 3)
+    return TDF_Label();
+
+  return theState.NewChild();
+}
+
+//=======================================================================
+//function : RemoveValue
+//purpose  : 
+//=======================================================================
+void XCAFDoc_KinematicTool::RemoveValue(const TDF_Label& theValue)
+{
+  if (!IsValue(theValue))
+    return;
+
+  Handle(TDataStd_TreeNode) aNode;
+  theValue.FindAttribute(XCAFDoc::KinematicRefJointGUID(), aNode);
+  aNode->Remove();
+
+
+  theValue.ForgetAllAttributes();
+}
+
 //=======================================================================
 //function : GetStates
 //purpose  : 
@@ -633,11 +668,7 @@ void XCAFDoc_KinematicTool::RemoveState(const TDF_Label& theState)
   Handle(TDataStd_TreeNode) aNode;
   TDF_LabelSequence aSeqOfValues = GetValuesOfState(theState);
   for (Standard_Integer anInd = 1; anInd <= aSeqOfValues.Length(); ++anInd)
-  {
-    aSeqOfValues(anInd).FindAttribute(XCAFDoc::KinematicRefJointGUID(), aNode);
-    aNode->Remove();
-    aSeqOfValues(anInd).ForgetAllAttributes();
-  }
+    RemoveValue(aSeqOfValues.Value(anInd));
   theState.ForgetAllAttributes();
 }
 
diff --git a/src/XCAFDoc/XCAFDoc_KinematicTool.hxx b/src/XCAFDoc/XCAFDoc_KinematicTool.hxx
index b3aa14b69b..847cc13d0d 100644
--- a/src/XCAFDoc/XCAFDoc_KinematicTool.hxx
+++ b/src/XCAFDoc/XCAFDoc_KinematicTool.hxx
@@ -153,6 +153,15 @@ public:
   //! \return created state label
   Standard_EXPORT TDF_Label AddState(const TDF_Label& theMechanism);
 
+  //! Adds new empty label for Value.
+  //! \param[in] theState parent state
+  //! \return created value label
+  Standard_EXPORT TDF_Label AddValue(const TDF_Label& theState);
+
+  //! Removes the given value
+  //! \param[in] theValue value to remove
+  Standard_EXPORT void RemoveValue(const TDF_Label& theValue);
+
   // Retrieves all States labels of the given mechanism
   //! \param[in] theMechanism parent mechanism
   //! \return state set
@@ -206,8 +215,12 @@ public:
 
   //! Gets references to joints of the given link.
   //! \param[in] theLink link to get
+  //! \param[in] toFirst take a reference first link of joint 
+  //! \param[in] toSecond take a reference second link of joint 
   //! \return set of joints
-  Standard_EXPORT TDF_LabelSequence GetJointsOfLink(const TDF_Label& theLink) const;
+  Standard_EXPORT TDF_LabelSequence GetJointsOfLink(const TDF_Label& theLink,
+                                                    const Standard_Boolean& toFirst = Standard_True,
+                                                    const Standard_Boolean& toSecond = Standard_True) const;
 
   //! Gets reference shapes of the given link.
   //! \param[in] theLink link to get
diff --git a/src/XCAFKinematics/XCAFKinematics_HighOrderPairObject.hxx b/src/XCAFKinematics/XCAFKinematics_HighOrderPairObject.hxx
index 286487e01c..72346d5e25 100644
--- a/src/XCAFKinematics/XCAFKinematics_HighOrderPairObject.hxx
+++ b/src/XCAFKinematics/XCAFKinematics_HighOrderPairObject.hxx
@@ -144,11 +144,11 @@ public:
   //! \return curve
   Standard_EXPORT Handle(Geom_Curve) Curve() const;
 
-  //! Sets curve attribute (only for SlidingCurve and RollingCurve)
+  //! Sets curve attribute (only for SlidingCurve, RollingCurve LinearAndFlexibleCurve)
   //! \param[in] theCurve curve
   Standard_EXPORT void SetFirstCurve(const Handle(Geom_Curve)& theCurve);
 
-  //! Gets curve attribute (only for SlidingCurve and RollingCurve)
+  //! Gets curve attribute (only for SlidingCurve, RollingCurve LinearAndFlexibleCurve)
   //! \return curve
   Standard_EXPORT Handle(Geom_Curve) FirstCurve() const;
 
diff --git a/src/XDEDRAW/XDEDRAW_Kinematics.cxx b/src/XDEDRAW/XDEDRAW_Kinematics.cxx
index 18b165a9a2..3f39ec92c7 100644
--- a/src/XDEDRAW/XDEDRAW_Kinematics.cxx
+++ b/src/XDEDRAW/XDEDRAW_Kinematics.cxx
@@ -164,7 +164,7 @@ static Standard_Integer removeMechanism(Draw_Interpretor& di, Standard_Integer a
 static Standard_Integer addLink(Draw_Interpretor& di, Standard_Integer argc, const char** argv)
 {
   if (argc < 3) {
-    di << "Use: XAddLink Doc ParentMechanism [-base] [shapeLabel1 .. shapeLabelN]\n";
+    di << "Use: XAddLink Doc ParentMechanism [-base] [shapeLabel1 ... shapeLabelN]\n";
     return 1;
   }
 
@@ -655,7 +655,7 @@ static Standard_Integer getName(Draw_Interpretor& di, Standard_Integer argc, con
 static Standard_Integer setType(Draw_Interpretor& di, Standard_Integer argc, const char** argv)
 {
   if (argc < 4) {
-    di << "Use: XSetPairType Doc Joint Type[1, 19]\n";
+    di << "Use: XSetPairType Doc Joint Type[1, 21]\n";
     return 1;
   }
 
@@ -1252,6 +1252,34 @@ static Standard_Integer addMechanismState(Draw_Interpretor& di, Standard_Integer
   return 0;
 }
 
+//=======================================================================
+//function : removeMechanismState
+//purpose  : 
+//=======================================================================
+static Standard_Integer removeMechanismState(Draw_Interpretor& di, Standard_Integer argc, const char** argv)
+{
+  if (argc < 3) {
+    di << "Use: XRemoveMechanismState Doc State\n";
+    return 1;
+  }
+
+  Handle(TDocStd_Document) aDoc;
+  if (!getDocument(di, argv[1], aDoc))
+    return 1;
+
+  TDF_Label aState;
+  if (!getLabel(di, aDoc, argv[2], aState) && aState.Father().Tag() != 3)
+    return 1;  
+  
+  Handle(XCAFDoc_KinematicTool) aTool = XCAFDoc_DocumentTool::KinematicTool(aDoc->Main());
+  TDF_Label aMechanism = aState.Father().Father();
+  if(!aTool->IsMechanism(aMechanism))
+    return 1;
+
+  aTool->RemoveState(aState);
+  return 0;
+}
+
 //=======================================================================
 //function : addValues
 //purpose  : 
@@ -1540,6 +1568,29 @@ static Standard_Integer getValues(Draw_Interpretor& di, Standard_Integer argc, c
   return 0;
 }
 
+//=======================================================================
+//function : removeValues
+//purpose  : 
+//=======================================================================
+static Standard_Integer removeValues(Draw_Interpretor& di, Standard_Integer argc, const char** argv)
+{
+  if (argc < 3) {
+    di << "Use: XRemovePairValues Doc Value\n";
+    return 1;
+  }
+
+  Handle(TDocStd_Document) aDoc;
+  if (!getDocument(di, argv[1], aDoc))
+    return 1;
+  Handle(XCAFDoc_KinematicTool) aTool = XCAFDoc_DocumentTool::KinematicTool(aDoc->Main());
+  TDF_Label aValue;
+  if (!getLabel(di, aDoc, argv[2], aValue) && !aTool->IsValue(aValue))
+    return 1;
+
+  aTool->RemoveValue(aValue);
+  return 0;
+}
+
 //=======================================================================
 //function : dump
 //purpose  : 
@@ -1665,7 +1716,7 @@ void XDEDRAW_Kinematics::InitCommands(Draw_Interpretor& di)
   di.Add("XRemoveMechanism", "XRemoveMechanism Doc Label",
     __FILE__, removeMechanism, g);
 
-  di.Add("XAddLink", "XAddLink Doc ParentMechanism [-base] [shapeLabel1 .. shapeLabelN]",
+  di.Add("XAddLink", "XAddLink Doc ParentMechanism [-base] [shapeLabel1 ... shapeLabelN]",
     __FILE__, addLink, g);
 
   di.Add("XSetLink", "XSetLink Doc Link shapeLabel1 .. shapeLabelN",
@@ -1716,7 +1767,7 @@ void XDEDRAW_Kinematics::InitCommands(Draw_Interpretor& di)
   di.Add("XGetPairName", "XGetPairName Doc Joint",
     __FILE__, getName, g);
 
-  di.Add("XSetPairType", "XSetPairType Doc Joint Type[0..19]"
+  di.Add("XSetPairType", "XSetPairType Doc Joint Type[0..21]"
     "Values:\n"
     "\t  0 type is absent\n"
     "\t  1 FullyConstrained\n"
@@ -1785,6 +1836,9 @@ void XDEDRAW_Kinematics::InitCommands(Draw_Interpretor& di)
   di.Add("XAddMechanismState", "XAddMechanismState Doc Mechanism",
     __FILE__, addMechanismState, g);
 
+  di.Add("XRemoveMechanismState", "XRemoveMechanismState Doc State",
+    __FILE__, removeMechanismState, g);
+
   di.Add("XAddPairValues", "XAddPairValues Doc State [Joint -Key1 Values1 -KeyN ValuesN]"
     "\t-[first_/second_]rotation - current rotation - 1 number"
     "\t-[first_/second_]translation - current translation - 1 number"
@@ -1812,6 +1866,9 @@ void XDEDRAW_Kinematics::InitCommands(Draw_Interpretor& di)
     "\t-trsf - for unconstrained only current location direction xdirection - 9 numbers",
     __FILE__, getValues, g);
 
+  di.Add("XRemovePairValues", "XRemovePairValues Doc Value",
+    __FILE__, removeValues, g);
+
   di.Add("XDumpKinematics", "XDumpKinematics Doc",
     __FILE__, dump, g);
 }
diff --git a/tools/DFBrowserPaneXDE/DFBrowserPaneXDE_XDEDRAW.cxx b/tools/DFBrowserPaneXDE/DFBrowserPaneXDE_XDEDRAW.cxx
index 2f7b564e60..cf2497b318 100644
--- a/tools/DFBrowserPaneXDE/DFBrowserPaneXDE_XDEDRAW.cxx
+++ b/tools/DFBrowserPaneXDE/DFBrowserPaneXDE_XDEDRAW.cxx
@@ -259,6 +259,9 @@ TCollection_AsciiString DFBrowserPaneXDE_XDEDRAW::GetAttributeInfo (Handle(TDF_A
     else if (att->ID() == XCAFDoc::KinematicRefLink1GUID() || att->ID() == XCAFDoc::KinematicRefLink2GUID()){
       type = "Kinematic Joint to Link";
     }
+    else if (att->ID() == XCAFDoc::KinematicRefJointGUID()) {
+      type = "Kinematic Value to Joint";
+    }
     else
       return TCollection_AsciiString();
 
-- 
2.39.5