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The ArmarX Framework - Supporting high level robot programming through state disclosure

In this paper we introduce the robot development environment (RDE) ArmarX. The goal of ArmarX is to ease the development of higher level capabilities for complex robotic systems. ArmarX is built upon the idea that consistent disclosure of the system state highly facilitates the development process. In order to show its applicability, we introduce a robot architecture for a complex humanoid system based on the ArmarX framework and discuss essential aspects based on an exemplary pick and place task.