State and 3D View
========================================================

.. ifconfig:: language in ['en']

    .. image:: /images/state_view.png
         :width: 500px
         :align: center

.. ifconfig:: language in ['fr']

    .. image:: /images/fr_state_view.png
         :width: 500px
         :align: center

3D View
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You can see here the 3D representation of the robot. 
You can display TCP (Tool Center Point) and Base link frames.

States and commands
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From here, you can:

- View the current joints angle.
- View the current TCP position and orientation.
- Activate or deactivate the Learning mode.
- Stop the current movement.
- Save the current position of the robot.
- Set the arm speed limit.