diff --git a/etc/doxygen/pages/armarpose.dox b/etc/doxygen/pages/armarpose.dox
index f4cb6eb1eb1303cb0cdea4111e39c1f53acafce4..f2320e783c3b5cd0bbd28a91ad9a772532110d24 100644
--- a/etc/doxygen/pages/armarpose.dox
+++ b/etc/doxygen/pages/armarpose.dox
@@ -7,8 +7,8 @@ into different coordinate frames. Here, we mean with coordinates \ref armarx::Ve
 \ref armarx::Quaternion "orientation", and \ref armarx::Pose "poses".
 These Intelligent Coordinates exist in 3 levels of "intelligence".
 - The first level are just normal coordinates. They do not contain any information how to transform them in
-other coordinate frames (e.g. \ref armarx::Pose Pose).
-- The second level is are the FramedCoordinates (e.g. \ref armarx::FramedPose "FramedPose"). These contain
+other coordinate frames (e.g. \ref armarx::Pose "Pose").
+- The second level are the *framed* coordinates (e.g. \ref armarx::FramedPose "FramedPose"). These contain
 the name and the agent of frame in which they currently are. To convert these the changeFrame() function
 can be called. One needs to give the new frame and the \ref armarx::SharedRobotInterface "robot proxy" to this
 function.
@@ -16,21 +16,20 @@ function.
 
 \section FramedPose-FramedPositionCreation Creation of new FramedPositions
 To create a new FramedPosition (FramedOrientation, FramedVector and FramedPose work analogously) one needs
-to know the Position, the coordinate frame name and the agent name.
-The coordinate frame is usually the name of the RobotNode, e.g. the tcp of the robot.
+to know the position, the coordinate frame name and the agent name.
+The coordinate frame is usually the name of the RobotNode, e.g. the tcp of the robot. All nodes of a robot can be inspected with the <a href="https://gitlab.com/Simox/simox/wikis/Examples">Simox tool *RobotViewer*</a>.
 The agent name can be retrieved via the \ref armarx::RobotStateComponent like this:
 
 \code
-    SharedRobotInterfacePrx robot = robotStateInterfacePrx->getSynchronizedRobot();
-    agentName = robot->getName();
+    std::strning agentName = robotStateInterfacePrx->getRobotName();
 \endcode
 So an example code for creating a new FramedPosition looks like this:
 
 \code
-    RobotStateComponentInterfacePrx robotStateInterfacePrx = ....; // you need to have this proxy
+    RobotStateComponentInterfacePrx robotStateInterfacePrx = ....; // you need to have this proxy, see \ref ArmarXCore-HowTos-GetProxy "get a proxy"
     SharedRobotInterfacePrx robot = robotStateInterfacePrx->getSynchronizedRobot();
-    agentName = robot->getName();
-    std::string frame = root->getRoot()->getName();
+    std::strning agentName = robotStateInterfacePrx->getRobotName();
+    std::string frame = robot->getRoot()->getName();
     Eigen::Vector3f pos;
     pos << 100, 0, 0;
     armarx::FramedPositionPtr position = new armarx::FramedPosition(pos, frame, agentName);
@@ -39,8 +38,8 @@ So an example code for creating a new FramedPosition looks like this:
 \section FramedPose-ChangeFrame Change the frame of a FramedPosition
 In ArmarX the most common coordinate type is the FramedX, e.g. FramedPosition.
 To change the frame in this coordinate type, you can call \ref armarx::FramedPosition::changeFrame "changeFrame()" on the FramedPosition.
-You need to know the new frame, in which you want to have the
-FramedPosition and a proxy to the \ref armarx::SharedRobotInterface "robot proxy" (e.g. \ref \ref armarx::RobotStateComponent::getSynchronizedRobot):
+You need to know the new frame, in which you want to transform the
+FramedPosition and a proxy to the \ref armarx::SharedRobotInterface "robot proxy" (e.g. \ref armarx::RobotStateComponent::getSynchronizedRobot):
 
 \code
     armarx::RobotStateComponentInterfacePrx robotStateInterfacePrx = ....; // you need to have this proxy