diff --git a/docs/demo_worlds.rst b/docs/demo_worlds.rst
index 6668124a..7a6e6c8c 100644
--- a/docs/demo_worlds.rst
+++ b/docs/demo_worlds.rst
@@ -15,25 +15,25 @@ MVSim.
    :local:
    :backlinks: none
 
+demo_warehouse
+---------------------
 
-demo_1robot
-------------------
-
-A simple 2D world defined via an occupancy grid map and a robot equipped with 2D lidars.
+Example of a 3D Lidar Jackal robot in a warehouse. The XML illustrates how to animate an object to make it to follow a given trajectory
+in a loop.
 
 .. tab-set::
     .. tab-item:: ROS 1
 
         .. code-block:: bash
 
-            roslaunch mvsim demo_1robot.launch
+            roslaunch mvsim demo_warehouse.launch
 
     .. tab-item:: ROS 2
         :selected:
 
         .. code-block:: bash
 
-            ros2 launch mvsim demo_1robot.launch.py
+            ros2 launch mvsim demo_warehouse.launch.py
 
     .. tab-item:: Standalone MVSim build
 
@@ -43,44 +43,46 @@ A simple 2D world defined via an occupancy grid map and a robot equipped with 2D
         .. code-block:: bash
 
             cd MVSIM_ROOT
-            build-Release/bin/mvsim launch mvsim_tutorial/demo_1robot.world.xml
+            build-Release/bin/mvsim launch mvsim_tutorial/demo_warehouse.world.xml
 
 
 .. raw:: html
 
    <div style="width: 100%; overflow: hidden;">
      <video controls autoplay loop muted style="width: 100%;">
-       <source src="https://mrpt.github.io/videos/mvsim_demo_1robot.mp4" type="video/mp4">
+       <source src="https://mrpt.github.io/videos/mvsim_demo_warehouse.mp4" type="video/mp4">
      </video>
    </div>
 
 
 .. dropdown:: World XML code
 
-   File: `mvsim_tutorial/demo_1robot.world.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/demo_1robot.world.xml>`_
+   File: `mvsim_tutorial/demo_warehouse.world.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/demo_warehouse.world.xml>`_
 
-   .. literalinclude:: ../mvsim_tutorial/demo_1robot.world.xml
+   .. literalinclude:: ../mvsim_tutorial/demo_warehouse.world.xml
       :language: xml
 
 
-demo_2robots
-------------------
+demo_greenhouse
+---------------------
 
-A world with 2 simple robots and a couple of custom "blocks" (furniture).
+Example of a 3D Lidar robot in a greenhouse. The XML illustrates features
+such as XML-level variables, XML-for loops for repetitive patterns of objects,
+slightly randomized-perturbations in plant poses, etc.
 
 .. tab-set::
     .. tab-item:: ROS 1
 
         .. code-block:: bash
 
-            roslaunch mvsim demo_2robots.launch
+            roslaunch mvsim demo_greenhouse.launch
 
     .. tab-item:: ROS 2
         :selected:
 
         .. code-block:: bash
 
-            ros2 launch mvsim demo_2robots.launch.py
+            ros2 launch mvsim demo_greenhouse.launch.py
 
     .. tab-item:: Standalone MVSim build
 
@@ -90,45 +92,46 @@ A world with 2 simple robots and a couple of custom "blocks" (furniture).
         .. code-block:: bash
 
             cd MVSIM_ROOT
-            build-Release/bin/mvsim launch mvsim_tutorial/demo_2robots.world.xml
+            build-Release/bin/mvsim launch mvsim_tutorial/demo_greenhouse.world.xml
 
 
 .. raw:: html
 
    <div style="width: 100%; overflow: hidden;">
      <video controls autoplay loop muted style="width: 100%;">
-       <source src="https://mrpt.github.io/videos/mvsim_demo_2robots.mp4" type="video/mp4">
+       <source src="https://mrpt.github.io/videos/mvsim_demo_greenhouse.mp4" type="video/mp4">
      </video>
    </div>
 
 
 .. dropdown:: World XML code
 
-   File: `mvsim_tutorial/demo_2robots.world.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/demo_2robots.world.xml>`_
+   File: `mvsim_tutorial/demo_greenhouse.world.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/demo_greenhouse.world.xml>`_
 
-   .. literalinclude:: ../mvsim_tutorial/demo_2robots.world.xml
+   .. literalinclude:: ../mvsim_tutorial/demo_greenhouse.world.xml
       :language: xml
 
 
+demo_turtlebot_world
+---------------------
 
-demo_camera
-------------------
-
-Example of a robot with a camera sensor (RGB).
+The MVSim port of the classic ROS "turtlebot world" scenario. 
+The XML illustrates how to define obstacle blocks with basic geometric shapes without
+external ``.dae`` or ``.stl`` files.
 
 .. tab-set::
     .. tab-item:: ROS 1
 
         .. code-block:: bash
 
-            roslaunch mvsim demo_camera.launch
+            roslaunch mvsim demo_turtlebot_world.launch
 
     .. tab-item:: ROS 2
         :selected:
 
         .. code-block:: bash
 
-            ros2 launch mvsim demo_camera.launch.py
+            ros2 launch mvsim demo_turtlebot_world.launch.py
 
     .. tab-item:: Standalone MVSim build
 
@@ -138,45 +141,47 @@ Example of a robot with a camera sensor (RGB).
         .. code-block:: bash
 
             cd MVSIM_ROOT
-            build-Release/bin/mvsim launch mvsim_tutorial/demo_camera.world.xml
+            build-Release/bin/mvsim launch mvsim_tutorial/demo_turtlebot_world.world.xml
 
 
 .. raw:: html
 
    <div style="width: 100%; overflow: hidden;">
      <video controls autoplay loop muted style="width: 100%;">
-       <source src="https://mrpt.github.io/videos/mvsim_demo_camera.mp4" type="video/mp4">
+       <source src="https://mrpt.github.io/videos/mvsim_demo_turtlebot_world.mp4" type="video/mp4">
      </video>
    </div>
 
 
 .. dropdown:: World XML code
 
-   File: `mvsim_tutorial/demo_camera.world.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/demo_camera.world.xml>`_
+   File: `mvsim_tutorial/demo_turtlebot_world.world.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/demo_turtlebot_world.world.xml>`_
 
-   .. literalinclude:: ../mvsim_tutorial/demo_camera.world.xml
+   .. literalinclude:: ../mvsim_tutorial/demo_turtlebot_world.world.xml
       :language: xml
 
 
 
-demo_depth_camera
+
+
+demo_1robot
 ------------------
 
-Example of a robot with a depth camera sensor (RGB+D).
+A simple 2D world defined via an occupancy grid map and a robot equipped with 2D lidars.
 
 .. tab-set::
     .. tab-item:: ROS 1
 
         .. code-block:: bash
 
-            roslaunch mvsim demo_depth_camera.launch
+            roslaunch mvsim demo_1robot.launch
 
     .. tab-item:: ROS 2
         :selected:
 
         .. code-block:: bash
 
-            ros2 launch mvsim demo_depth_camera.launch.py
+            ros2 launch mvsim demo_1robot.launch.py
 
     .. tab-item:: Standalone MVSim build
 
@@ -186,44 +191,44 @@ Example of a robot with a depth camera sensor (RGB+D).
         .. code-block:: bash
 
             cd MVSIM_ROOT
-            build-Release/bin/mvsim launch mvsim_tutorial/demo_depth_camera.world.xml
+            build-Release/bin/mvsim launch mvsim_tutorial/demo_1robot.world.xml
 
 
 .. raw:: html
 
    <div style="width: 100%; overflow: hidden;">
      <video controls autoplay loop muted style="width: 100%;">
-       <source src="https://mrpt.github.io/videos/mvsim_demo_depth_camera.mp4" type="video/mp4">
+       <source src="https://mrpt.github.io/videos/mvsim_demo_1robot.mp4" type="video/mp4">
      </video>
    </div>
 
 
 .. dropdown:: World XML code
 
-   File: `mvsim_tutorial/demo_depth_camera.world.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/demo_depth_camera.world.xml>`_
+   File: `mvsim_tutorial/demo_1robot.world.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/demo_1robot.world.xml>`_
 
-   .. literalinclude:: ../mvsim_tutorial/demo_depth_camera.world.xml
+   .. literalinclude:: ../mvsim_tutorial/demo_1robot.world.xml
       :language: xml
 
 
-demo_elevation_map
----------------------
+demo_2robots
+------------------
 
-Example of a 3D Lidar robot in a "2.5D" world defined by an elevation map.
+A world with 2 simple robots and a couple of custom "blocks" (furniture).
 
 .. tab-set::
     .. tab-item:: ROS 1
 
         .. code-block:: bash
 
-            roslaunch mvsim demo_elevation_map.launch
+            roslaunch mvsim demo_2robots.launch
 
     .. tab-item:: ROS 2
         :selected:
 
         .. code-block:: bash
 
-            ros2 launch mvsim demo_elevation_map.launch.py
+            ros2 launch mvsim demo_2robots.launch.py
 
     .. tab-item:: Standalone MVSim build
 
@@ -233,46 +238,45 @@ Example of a 3D Lidar robot in a "2.5D" world defined by an elevation map.
         .. code-block:: bash
 
             cd MVSIM_ROOT
-            build-Release/bin/mvsim launch mvsim_tutorial/demo_elevation_map.world.xml
+            build-Release/bin/mvsim launch mvsim_tutorial/demo_2robots.world.xml
 
 
 .. raw:: html
 
    <div style="width: 100%; overflow: hidden;">
      <video controls autoplay loop muted style="width: 100%;">
-       <source src="https://mrpt.github.io/videos/mvsim_demo_elevation_map.mp4" type="video/mp4">
+       <source src="https://mrpt.github.io/videos/mvsim_demo_2robots.mp4" type="video/mp4">
      </video>
    </div>
 
 
 .. dropdown:: World XML code
 
-   File: `mvsim_tutorial/demo_elevation_map.world.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/demo_elevation_map.world.xml>`_
+   File: `mvsim_tutorial/demo_2robots.world.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/demo_2robots.world.xml>`_
 
-   .. literalinclude:: ../mvsim_tutorial/demo_elevation_map.world.xml
+   .. literalinclude:: ../mvsim_tutorial/demo_2robots.world.xml
       :language: xml
 
 
-demo_greenhouse
----------------------
 
-Example of a 3D Lidar robot in a greenhouse. The XML illustrates features
-such as XML-level variables, XML-for loops for repetitive patterns of objects,
-slightly randomized-perturbations in plant poses, etc.
+demo_camera
+------------------
+
+Example of a robot with a camera sensor (RGB).
 
 .. tab-set::
     .. tab-item:: ROS 1
 
         .. code-block:: bash
 
-            roslaunch mvsim demo_greenhouse.launch
+            roslaunch mvsim demo_camera.launch
 
     .. tab-item:: ROS 2
         :selected:
 
         .. code-block:: bash
 
-            ros2 launch mvsim demo_greenhouse.launch.py
+            ros2 launch mvsim demo_camera.launch.py
 
     .. tab-item:: Standalone MVSim build
 
@@ -282,46 +286,45 @@ slightly randomized-perturbations in plant poses, etc.
         .. code-block:: bash
 
             cd MVSIM_ROOT
-            build-Release/bin/mvsim launch mvsim_tutorial/demo_greenhouse.world.xml
+            build-Release/bin/mvsim launch mvsim_tutorial/demo_camera.world.xml
 
 
 .. raw:: html
 
    <div style="width: 100%; overflow: hidden;">
      <video controls autoplay loop muted style="width: 100%;">
-       <source src="https://mrpt.github.io/videos/mvsim_demo_greenhouse.mp4" type="video/mp4">
+       <source src="https://mrpt.github.io/videos/mvsim_demo_camera.mp4" type="video/mp4">
      </video>
    </div>
 
 
 .. dropdown:: World XML code
 
-   File: `mvsim_tutorial/demo_greenhouse.world.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/demo_greenhouse.world.xml>`_
+   File: `mvsim_tutorial/demo_camera.world.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/demo_camera.world.xml>`_
 
-   .. literalinclude:: ../mvsim_tutorial/demo_greenhouse.world.xml
+   .. literalinclude:: ../mvsim_tutorial/demo_camera.world.xml
       :language: xml
 
 
-demo_turtlebot_world
----------------------
 
-The MVSim port of the classic ROS "turtlebot world" scenario. 
-The XML illustrates how to define obstacle blocks with basic geometric shapes without
-external ``.dae`` or ``.stl`` files.
+demo_depth_camera
+------------------
+
+Example of a robot with a depth camera sensor (RGB+D).
 
 .. tab-set::
     .. tab-item:: ROS 1
 
         .. code-block:: bash
 
-            roslaunch mvsim demo_turtlebot_world.launch
+            roslaunch mvsim demo_depth_camera.launch
 
     .. tab-item:: ROS 2
         :selected:
 
         .. code-block:: bash
 
-            ros2 launch mvsim demo_turtlebot_world.launch.py
+            ros2 launch mvsim demo_depth_camera.launch.py
 
     .. tab-item:: Standalone MVSim build
 
@@ -331,45 +334,44 @@ external ``.dae`` or ``.stl`` files.
         .. code-block:: bash
 
             cd MVSIM_ROOT
-            build-Release/bin/mvsim launch mvsim_tutorial/demo_turtlebot_world.world.xml
+            build-Release/bin/mvsim launch mvsim_tutorial/demo_depth_camera.world.xml
 
 
 .. raw:: html
 
    <div style="width: 100%; overflow: hidden;">
      <video controls autoplay loop muted style="width: 100%;">
-       <source src="https://mrpt.github.io/videos/mvsim_demo_turtlebot_world.mp4" type="video/mp4">
+       <source src="https://mrpt.github.io/videos/mvsim_demo_depth_camera.mp4" type="video/mp4">
      </video>
    </div>
 
 
 .. dropdown:: World XML code
 
-   File: `mvsim_tutorial/demo_turtlebot_world.world.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/demo_turtlebot_world.world.xml>`_
+   File: `mvsim_tutorial/demo_depth_camera.world.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/demo_depth_camera.world.xml>`_
 
-   .. literalinclude:: ../mvsim_tutorial/demo_turtlebot_world.world.xml
+   .. literalinclude:: ../mvsim_tutorial/demo_depth_camera.world.xml
       :language: xml
 
 
-demo_warehouse
+demo_elevation_map
 ---------------------
 
-Example of a 3D Lidar Jackal robot in a warehouse. The XML illustrates how to animate an object to make it to follow a given trajectory
-in a loop.
+Example of a 3D Lidar robot in a "2.5D" world defined by an elevation map.
 
 .. tab-set::
     .. tab-item:: ROS 1
 
         .. code-block:: bash
 
-            roslaunch mvsim demo_warehouse.launch
+            roslaunch mvsim demo_elevation_map.launch
 
     .. tab-item:: ROS 2
         :selected:
 
         .. code-block:: bash
 
-            ros2 launch mvsim demo_warehouse.launch.py
+            ros2 launch mvsim demo_elevation_map.launch.py
 
     .. tab-item:: Standalone MVSim build
 
@@ -379,23 +381,23 @@ in a loop.
         .. code-block:: bash
 
             cd MVSIM_ROOT
-            build-Release/bin/mvsim launch mvsim_tutorial/demo_warehouse.world.xml
+            build-Release/bin/mvsim launch mvsim_tutorial/demo_elevation_map.world.xml
 
 
 .. raw:: html
 
    <div style="width: 100%; overflow: hidden;">
      <video controls autoplay loop muted style="width: 100%;">
-       <source src="https://mrpt.github.io/videos/mvsim_demo_warehouse.mp4" type="video/mp4">
+       <source src="https://mrpt.github.io/videos/mvsim_demo_elevation_map.mp4" type="video/mp4">
      </video>
    </div>
 
 
 .. dropdown:: World XML code
 
-   File: `mvsim_tutorial/demo_warehouse.world.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/demo_warehouse.world.xml>`_
+   File: `mvsim_tutorial/demo_elevation_map.world.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/demo_elevation_map.world.xml>`_
 
-   .. literalinclude:: ../mvsim_tutorial/demo_warehouse.world.xml
+   .. literalinclude:: ../mvsim_tutorial/demo_elevation_map.world.xml
       :language: xml