.. _interface:

Oncilla Interface
=================

Following the abstractions of the :ref:`Robot Control Interface <rci>` (RCI),
the Oncilla robot is modeled by a set of specific
:ref:`Resource Nodes <rci:resourcenode>`:

* :ref:`trunk`
* :ref:`l0`
* :ref:`l1l2`
* :ref:`l3`
* :ref:`l4`