.. _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` -- representing the robot's trunk
* :ref:`l0` -- representing the adduction-abduction scapula joint
* :ref:`l1l2` -- representing the protraction-retraction hip joint and the flexion-extension knee joint
* :ref:`l3`
* :ref:`l4` -- representing the foot of the robot