interface.rst
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			.. _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`

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