@@ -83,12 +83,20 @@ With the corresponding configuration in ./config/Armar3Config.cfg:
\endcode
\section RobotAPI-HowTos-RobotViewer How to inspect the robot's structure
Robots are usually defined in the Simox XML (https://gitlab.com/Simox/simox/wikis/FileFormat) or in the URDF format. To inspect the kinematic structure, visualizations and physical properties, you can use the <i>RobotViewer</i> tool which is part of the Simox library. In particlular you can visualize all coordinate frames that are present in the robot defintion.
Start it with the following command:
\code
RobotViewer --robot path/to/robot.xml
\endcode
\image html robotviewer.png "The Simox tool RobotViewer can be used to inspect the kinematic structure of a robot."
\section RobotAPI-HowTos-RemoteRobot-Access How to access a RobotStateComponent
The RobotStateComponent provides several methods for accessing the current configuration of the robot and for getting a snapshot of the current state which is compatible with
models of the Simox/VirtualRobot framework. With these models the whole functionality of Simox (http://simox.sf.net) can be used, e.g. IK solving, collision detection or motion and grasp planning.
models of the Simox/VirtualRobot framework. With these models the whole functionality of Simox (https://gitlab.com/Simox/simox) can be used, e.g. IK solving, collision detection or motion and grasp planning.
