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As I stated earlier, after some time you can become comfortable enough with RDF/XML to read and write the documents manually. But why bother? If you need to manually write an RDF/XML document, you're better off doing so with a specialized RDF editor.
One of the more popular editors is IsaViz, a visual RDF/XML editing tool written in Java. In fact, like so many other RDF/XML tools, it makes use of many of the Jena classes, making Jena the most commonly used API of all (which is why it has its own chapter).