small fixes in tcp-rectangle tutorial

etc/doxygen/pages/tutorials/TutorialMoveRobotArmAlongRectangle.dox

@@ -32,13 +32,14 @@ Your statechart group will need access to the following proxies:
 The first action the robot should do is move its arm into a start configuration.
 To find a suitable pose you can use the the GUI plugin RobotIK. To use this plugin 
 make sure to start the scenario Armar3Simulation. Then add two widgets to the ArmarXGui:
-\li ```RobotControl -> KinematicUnitGUI```
+\li ```Visualization -> RobotViewerGUI```
 \li ```RobotControl -> RobotIK```
 
 In the RobotIK GUI select the kinematic chain "HipYawRightArm" and move the TCP to a suitable position.
-Then open the KinematicUnitGUI and read off the values of the joints belonging to the kinematic chain.
+Then open the RobotViewerGUI, select the correct kinematic chain and copy the joint values of this chain.
+The format is already a Map(float) in JSON as expected from the startchart.
 
-The resulting joint value map can represented as a "Map(float)" in your statechart. An example follows:
+An example could look like this:
 \code{.js}
 {
   "Hip Yaw": -0.0230325,
@@ -83,7 +84,7 @@ while (!isRunningTaskStopped())
 \subsection RobotAPI-Tutorial-MoveArmRect-sec-hints-tcp-velocity-control Using velocity control for the TCP
 
 In this tutorial you are required to use the TCPControlUnit to control the arm.
-Before you can use the unit you have to request it once. Do this during the onEnter() method of you statechart:
+Before you can use the unit you have to request it once. Do this during the onEnter() method of your statechart:
 \code{.cpp}
 getTcpControlUnit()->request();
 \endcode
@@ -98,7 +99,7 @@ TimeUtil::MSSleep(100);
 getTcpControlUnit()->release();
 \endcode
 
-To set a velocity relative to the current robot position you can use this code fragment:
+To set a velocity relative to the current robot's tcp position you can use this code fragment:
 \code{.cpp}
 Eigen::Vector3f velocity = ... // To be calculated