update doc

docs/api.rst

 API Reference
-==============
-
-If you are looking for information on a specific function.
-
+*************
 
 API Reference for Robot Module
 ==============================

docs/examples.rst

@@ -2,10 +2,20 @@ Examples
 ========
 
 
+Example code snippets can be found in the [examples
+folder](https://git.h2t.iar.kit.edu/sw/armarx/python3-armarx/-/tree/master/examples)
+of the code repository.
+
+In the following, 
+
+
 
 Retrieving a proxy
 ------------------
 
+Retrieving a proxy of a running component is straightforward.  Interface can be
+directly imported and proxy can be accessed using  the `get_proxy` method.
+
 .. highlight:: python
 .. code-block:: python
 
@@ -19,13 +29,20 @@ Retrieving a proxy
 Creating a proxy
 ----------------
 
+An instance of the class that inherits the interace has to be created first.
+Methods that are specified in the interface have to be implemented. In this
+case `generateRandomInt`. Result parameters have to match the return value as
+specified in the interface. The parameter `Ice::IceContext` is also passed to
+every method that are defined in the interface.  Once an instance of the class
+is created it can be registered with `ice_manager.register_object` and a name
+of the proxy.  Other components can then load the interface and access the
+component via the name of the proxy.
+
 
 .. highlight:: python
 .. code-block:: python
 
 
-    #!/usr/bin/env python
-
     import random
 
     from armarx import RNGProviderComponentInterface
@@ -47,3 +64,41 @@ Creating a proxy
     if __name__ == '__main__':
         main()
 
+
+
+Processing images
+-----------------
+
+The module `armarx_vision.image_processor` provides a class to conveniently
+process images from armarx. Here the `process_images` method has to be
+implemented.  The method has two parameters `images` and `info`.  The former
+contains the images and the latter contains information about the images, e.g.
+the timestamp. The return value of the method is a tuple of result images and
+information about these.
+The approach is similar to  :ref:`Creating a proxy`.  Note that
+this method does not have an `Ice::IceContext` as it is not specified by a
+slice interface. The method `ImageProcessor.on_connect()` takes care of
+subscribing to the component that publishes the images, i.e.
+`visionx::ImageProviderInterface`. Additionally, a component is created
+internally that handles the result images.
+
+
+
+.. highlight:: python
+.. code-block:: python
+
+    from armarx_vision.image_processor import ImageProcessor
+
+
+
+    class TestImageProcessor(ImageProcessor):
+
+        def process_images(self, images, info):
+            info.timeProvided = 1633428148974550
+            result_image = np.random.random(images.shape) * 128
+            return result_image, info
+
+    image_processor = TestImageProcessor("ExampleImageProvider")
+    image_processor.on_connect()
+
+

docs/index.rst

-from 🤖 import armarx as ❤ 
-************************** 
-Welcome to armarx python binding's documentation. Grab the latest version with
-:ref:`Installation` and then get an overview with the :ref:`Quickstart`
-
 .. toctree::
    :maxdepth: 3
    :caption: Contents:
 
-   :ref:`Quickstart`
+   users_guide
    installation
    examples
    api
 
 
-User's Guide
-============
-
-Checkout section :ref:`Quickstart` for a quick introduction. For more detailed
-instructions on the installation see section :ref:`Installation`. The ArmarX
-Python bindings share some configuration with the statecharts.  Section
-:ref:`Configuration` gives more details.  :ref:`Examples` lists some examples.
-
-
-Quickstart
-----------
-
-Grab the latest version with `poetry add armarx` or `pip install armarx`.
-
-To access a proxy via ice you can load the interface with the import keyword.
-For convenience, functions such as `get_proxy` are automatically injected with
-default parameters.
-
-.. highlight:: python
-.. code-block:: python
-
-    from armax import PlatformNavigatorPrx
-
-    platform_navigator = PlatformNavigatorPrx.get_proxy()
-    platform_navigator.movePlatform(6000, -7300, 2.2)
-
-
-That's it. Happy coding. 
-
-
-
-Robots module
--------------
-
-The `armarx_robots` module is an easy and convient way to control a robot.
-
-.. highlight:: python
-.. code-block:: python
-
-    from armarx_robots import A6
-    
-    # we use the ARMAR-6 robot
-    robot = A6()
-    # use the text-to-speech system to say something
-    robot.say('Hello World')
-
-    # look at a specific target, i.e. in front of the robot
-    from armarx import FramedPositionBase
-    position = FramedPositionBase(0, 1000, 1650, frame='root', agent='Armar6'))
-    robot.gaze.fixate(position)
-
-    # close both hands
-    robot.close_hand('both')
-    robot.say('Here it is.')
-
-    #execute the handover action. 
-    robot.handover()
-
-
-
 
 Indices and tables
 ==================

docs/users_guide.rst

+from 🤖 import armarx as ❤ 
+************************** 
+Welcome to armarx python binding's documentation. Grab the latest version with
+:ref:`Installation` and then get an overview with the :ref:`Quickstart`
+If you are looking for information on a specific function checkout the API :ref:`API Reference`.
+
+.. image:: _static/war-machine.jpg
+   :scale: 50 %
+   :alt: ArmarX Python bindings
+   :align: center
+
+
+User's Guide
+============
+
+Checkout section :ref:`Quickstart` for a quick introduction. For more detailed
+instructions on the installation see section :ref:`Installation`. The ArmarX
+Python bindings share some configuration with the statecharts.  Section
+:ref:`Configuration` gives more details.  :ref:`Examples` lists some examples.
+
+
+Quickstart
+----------
+
+Grab the latest version with `poetry add armarx` or `pip install armarx`.
+
+To access a proxy via ice you can load the interface with the import keyword.
+For convenience, functions such as `get_proxy` are automatically injected with
+default parameters.
+
+.. highlight:: python
+.. code-block:: python
+
+    from armax import PlatformNavigatorPrx
+
+    platform_navigator = PlatformNavigatorPrx.get_proxy()
+    platform_navigator.movePlatform(6000, -7300, 2.2)
+
+
+That's it. Happy coding. 
+
+
+
+Robots module
+-------------
+
+The `armarx_robots` module is an easy and convient way to control a robot.
+
+.. highlight:: python
+.. code-block:: python
+
+    from armarx_robots import A6
+    
+    # we use the ARMAR-6 robot
+    robot = A6()
+    # use the text-to-speech system to say something
+    robot.say('Hello World')
+
+    # look at a specific target, i.e. in front of the robot
+    from armarx import FramedPositionBase
+    position = FramedPositionBase(0, 1000, 1650, frame='root', agent='Armar6'))
+    robot.gaze.fixate(position)
+
+    # close both hands
+    robot.close_hand('both')
+    robot.say('Here it is.')
+
+    #execute the handover action. 
+    robot.handover()