diff --git a/docs/README.md b/docs/README.md index f54ca12f8..9c2a17010 100644 --- a/docs/README.md +++ b/docs/README.md @@ -53,8 +53,8 @@ const config = { { //... versions: { - current: {label: "AICA Core v5", path: "", banner: "none"}, - v4: {label: "AICA Core v4", path: "v4", banner: "none"}, + current: {label: "Core v5", path: "", banner: "none"}, + v4: {label: "Core v4", path: "v4", banner: "none"}, } } ] @@ -73,9 +73,9 @@ const config = { { //... versions: { - current: {label: "AICA Core v6", path: "", banner: "none"}, - v5: {label: "AICA Core v5", path: "v5", banner: "none"}, - v4: {label: "AICA Core v4", path: "v4", banner: "none"}, + current: {label: "Core v6", path: "", banner: "none"}, + v5: {label: "Core v5", path: "v5", banner: "none"}, + v4: {label: "Core v4", path: "v4", banner: "none"}, } } ] diff --git a/docs/core/examples.md b/docs/core/examples.md index 410ca0a06..bbb609f36 100644 --- a/docs/core/examples.md +++ b/docs/core/examples.md @@ -4,5 +4,5 @@ title: Examples # Examples -Explore a collection of practical examples below to help you get started with AICA. These samples demonstrate common use -cases, integration patterns, and best practices, making it easier to learn and apply AICA System in your own projects. +Explore a collection of practical examples below to help you get started. These samples demonstrate common use +cases, integration patterns, and best practices, making it easier to learn and apply the System in your own projects. diff --git a/docs/core/examples/core-components/_category_.json b/docs/core/examples/core-components/_category_.json index 60c08378d..74cf88ba6 100644 --- a/docs/core/examples/core-components/_category_.json +++ b/docs/core/examples/core-components/_category_.json @@ -3,6 +3,6 @@ "position": 2, "link": { "type": "generated-index", - "description": "This section contains various application examples using the AICA Core Components." + "description": "This section contains various application examples using the Core Components." } } diff --git a/docs/core/examples/core-components/colliders.md b/docs/core/examples/core-components/colliders.md index ab9d1634a..109a352be 100644 --- a/docs/core/examples/core-components/colliders.md +++ b/docs/core/examples/core-components/colliders.md @@ -10,7 +10,7 @@ import colliderInterfaces from './assets/collider-interfaces.png' # Colliders -The core components in AICA Studio contain several so-called _Collider_ components that detect whether a specific target +The core components in Studio contain several so-called _Collider_ components that detect whether a specific target pose is inside or outside a virtual geometric object defined around a center pose. This functionality is crucial for many robotic applications because it provides the ability to: @@ -53,8 +53,8 @@ default, this is when the z position of the target pose is negative in the coord :::note -Until collider visualizations are natively integrated in AICA Studio, these examples use RViz to visualize and move the -collision targets in space. RViz can be started directly from AICA Launcher. +Until collider visualizations are natively integrated in Studio, these examples use RViz to visualize and move the +collision targets in space. RViz can be started directly from Launcher. @@ -70,7 +70,7 @@ is parametrized to define a box of dimensions 10 by 20 by 5 centimeters around t Box Collider -Start the application from AICA Studio, then go to RViz. Add the interactive marker frame and the geometric object +Start the application from Studio, then go to RViz. Add the interactive marker frame and the geometric object marker as shown below. Observe how moving the interactive marker triggers the predicates of the collider component to update when the target pose enters and exits the box. @@ -211,7 +211,7 @@ This behavior can be inverted with the "Flip normal" parameter. The direction of ::: The example below shows an application that is stopped entirely if the robot end-effector collides with the plane. This -demonstrates how soft safety mechanisms can be implemented in AICA Studio. As soon as the target pose, which is the +demonstrates how soft safety mechanisms can be implemented in Studio. As soon as the target pose, which is the end-effector in this case, has a negative z coordinate relative to the center pose, the _in collision_ predicate fires and the application is stopped immediately. diff --git a/docs/core/examples/core-components/point-attractor.md b/docs/core/examples/core-components/point-attractor.md index 8a165c91e..971e4b479 100644 --- a/docs/core/examples/core-components/point-attractor.md +++ b/docs/core/examples/core-components/point-attractor.md @@ -9,7 +9,7 @@ import pointAttractorExample from './assets/point-attractor-example.webm' # Point Attractors This page shows how Dynamical Systems (DS), and in particular Point Attractor components, can be used to generate -dynamic motions in AICA Studio. Point Attractor DS are valuable in robotics because they provide a simple and robust way +dynamic motions in Studio. Point Attractor DS are valuable in robotics because they provide a simple and robust way to guide a robot toward a specific target. By continuously generating motion commands that drive to the attractor, these components enable reaching, positioning, and interaction tasks, making them useful for applications such as pick-and-place, assembly, and human-robot collaboration. @@ -80,7 +80,7 @@ To set up this example, follow the steps below. of the `Point Attractor` with the `Command` input of the controller. 5. Finally, make sure to load all components on start by creating the necessary event edges. -Start the application from AICA Studio, then switch to the 3D view. Drag the frame around and observe how the robot is +Start the application from Studio, then switch to the 3D view. Drag the frame around and observe how the robot is dynamically attracted towards the frame.
diff --git a/docs/core/examples/core-components/signal-interoperability.md b/docs/core/examples/core-components/signal-interoperability.md index f95d98d42..a15b7fe83 100644 --- a/docs/core/examples/core-components/signal-interoperability.md +++ b/docs/core/examples/core-components/signal-interoperability.md @@ -10,19 +10,19 @@ import signalRosPose from './assets/signal-ros-pose.png' # Signal interoperability -As described in the [signals page](/docs/concepts/building-blocks/signals), AICA signals make it easy to exchange +As described in the [signals page](/docs/concepts/building-blocks/signals), signals make it easy to exchange Cartesian and joint state variables in an internally consistent way. In components, state signals are automatically converted into smart data classes that provide useful functions for conversions, transformations and other manipulations. Even though there is no official standard, there are a few signal types that are very commonly used in ROS. For ease of -interoperability, AICA Core includes several components that translate AICA signals to common ROS messages and back. -These components can be especially valuable when porting existing ROS nodes into AICA Studio using the Component SDK or -when communicating with ROS nodes outside the AICA System. +interoperability, Core includes several components that translate signals to common ROS messages and back. +These components can be especially valuable when porting existing ROS nodes into Studio using the Component SDK or +when communicating with ROS nodes outside the System. -## AICA signals to common ROS messages +## signals to common ROS messages -AICA state signals carrying Cartesian or joint space information can be converted into common ROS message types using +State signals carrying Cartesian or joint space information can be converted into common ROS message types using the following components: | Component name | Input signal type | Output message type | @@ -32,9 +32,9 @@ the following components: | Cartesian Signal to Wrench Stamped Message | Cartesian state or wrench | `geometry_msgs::msg::WrenchStamped` | | Joint Signal To Joint State Message | Joint state, positions, velocities or torques | `sensor_msgs::msg::JointState` | -## Common ROS messages to AICA signals +## Common ROS messages to signals -Common ROS message types carrying Cartesian or joint space information can be converted back into AICA state signals +Common ROS message types carrying Cartesian or joint space information can be converted back into state signals using the following components: | Component name | Input message type | Output signal type | @@ -49,7 +49,7 @@ using the following components: All of these components are single-input single-output blocks. Each time a new message is received, it is translated and immediately published. For that reason, the `rate` parameter doesn't affect the behavior of these components. -## AICA Signal to ROS message example +## Signal to ROS message example This example uses the `Joint Signal To Joint State Message` component to translate the joint state output from the hardware interface to a `sensor_msgs::msg::JointState` message and the `Cartesian Signal to Pose Stamped Message` @@ -193,7 +193,7 @@ With content: -## ROS message to AICA Signal example +## ROS message to Signal example Mirroring the first example, the following application uses the `Wrench Stamped Message To Cartesian Signal` component to translate a `geometry_msgs::msg::WrenchStamped` from some custom component to a Cartesian signal that is connected to @@ -202,7 +202,7 @@ the force controller of the hardware interface. :::note The custom component is just an example placeholder for any implementation that has a ROS standard message output, which -might occur when porting existing ROS nodes into AICA Studio using the AICA SDK. +might occur when porting existing ROS nodes into Studio using the SDK. ::: diff --git a/docs/core/examples/core-controllers/_category_.json b/docs/core/examples/core-controllers/_category_.json index d8dc4169c..880a9a943 100644 --- a/docs/core/examples/core-controllers/_category_.json +++ b/docs/core/examples/core-controllers/_category_.json @@ -3,6 +3,6 @@ "position": 3, "link": { "type": "generated-index", - "description": "This section contains various application examples using the AICA Core Controllers." + "description": "This section contains various application examples using the Core Controllers." } } diff --git a/docs/core/examples/core-controllers/jtc-example.md b/docs/core/examples/core-controllers/jtc-example.md index 133861148..597366572 100644 --- a/docs/core/examples/core-controllers/jtc-example.md +++ b/docs/core/examples/core-controllers/jtc-example.md @@ -19,7 +19,7 @@ Visit our learning platform AICAdemy for an interactive training module with a r ## Setting up the application -Launch AICA Studio and create a new application by pressing "Create new". +Launch Studio and create a new application by pressing "Create new". Copy the following YAML and generate the graph. diff --git a/docs/core/examples/guides/_category_.json b/docs/core/examples/guides/_category_.json index 7e16a3f92..99e8e63fc 100644 --- a/docs/core/examples/guides/_category_.json +++ b/docs/core/examples/guides/_category_.json @@ -3,6 +3,6 @@ "position": 1, "link": { "type": "generated-index", - "description": "This section contains step-by-step guides of various application examples using the AICA System." + "description": "This section contains step-by-step guides of various application examples using the System." } } diff --git a/docs/core/examples/guides/abb-hardware-interface.md b/docs/core/examples/guides/abb-hardware-interface.md index 2e153fb39..61182c064 100644 --- a/docs/core/examples/guides/abb-hardware-interface.md +++ b/docs/core/examples/guides/abb-hardware-interface.md @@ -18,17 +18,17 @@ import abbHIParameters from './assets/abb-hi-parameters.png' ABB offers a wide range of industrial articulated manipulators, from compact 6-axis robots for small-part handling and payloads of a few kilograms to heavy-duty models capable of lifting up to 800 kg. This guide provides instructions for -using ABB robots within the AICA System, focusing on connecting and configuring both simulated environments using +using ABB robots within the System, focusing on connecting and configuring both simulated environments using RobotStudio and real hardware setups. -To use the ABB collection, add `collections/abb` **v1.0.0 or higher** to your configuration in AICA Launcher, currently +To use the ABB collection, add `collections/abb` **v1.0.0 or higher** to your configuration in Launcher, currently supporting the following robot models out of the box: - IRB 1010 - IRB 6730-210/3.1 - GoFa CRB 15000-12/1.27 -Other robot models can be added on request. Reach out to the AICA support team for further information. +Other robot models can be added on request. Reach out to the support team for further information. ## General @@ -38,7 +38,7 @@ and features described below. :::warning -This collection supports RobotWare versions 7.X and above. For older versions, contact the AICA support team. +This collection supports RobotWare versions 7.X and above. For older versions, contact the support team. ::: @@ -58,7 +58,7 @@ EGM is an optional add-in and has to be purchased separately. ### Robot Web Services -The second ABB feature that AICA System utilizes to connect to the robot is Robot Web Services (RWS). RWS is a platform +The second ABB feature that the System utilizes to connect to the robot is Robot Web Services (RWS). RWS is a platform that enables developers to create applications that interact with the robot controller, using RESTful APIs that leverage the HTTPS protocol. The hardware interface uses RWS for auxiliary functionality, such as starting/stopping the program and the motors, and setting IOs. Setting up RWS on the simulator and on the actual robot requires slightly different @@ -114,12 +114,12 @@ Setting up a virtual workstation and controller can be achieved by following the
Additional options in the RobotStudio project.
-7. Disable the Windows firewall on the network where the PC running AICA Core is connected to. -8. Finally, the PC running AICA Core has to be whitelisted to communicate with RobotStudio. As explained +7. Disable the Windows firewall on the network to which the PC running Core is connected. +8. Finally, the PC running Core has to be whitelisted to communicate with RobotStudio. As explained [here](https://forums.robotstudio.com/discussion/12082/using-robotwebservices-to-access-a-remote-virtual-controller), create a file called `vcconf.xml` under `C:/Users//AppData/Roaming/ABB Industrial IT/Robotics IT/RobVC` with the content below. Replace `` in the path above with your Windows user and the IP address in the snippet below with - the IP of the PC running AICA Core (in this example 192.168.137.100). + the IP of the PC running Core (in this example 192.168.137.100). ```xml title="vcconf.xml" @@ -149,7 +149,7 @@ and then restart. After connecting to the robot, the controller should be configured to accept commands from an external device. 1. Navigate to the Controller tab > Configuration > Communication > UDP Unicast Device, and add a new UDPUC device (or - modify the existing one), configured as shown below. This is the PC running AICA Core, the external control device, + modify the existing one), configured as shown below. This is the PC running Core, the external control device, so the address should be set accordingly.
Controller configuration settings. @@ -171,7 +171,7 @@ After connecting to the robot, the controller should be configured to accept com ## RAPID module -The ABB hardware interface provided by AICA needs a matching RAPID module running on the robot to allow external control +The ABB hardware interface needs a matching RAPID module running on the robot to allow external control through EGM. Place the module below in the controller's home directory and upload it to the current task. :::warning @@ -380,7 +380,7 @@ UDP data exchange. ::: -Returning to AICA Studio and the hardware interface, it is now possible to define the parameters and connect to the +Returning to Studio and the hardware interface, it is now possible to define the parameters and connect to the robot. The majority of the hardware interface parameters enable connection to EGM and RWS:
@@ -400,7 +400,7 @@ robot. The majority of the hardware interface parameters enable connection to EG `AICA_EGM`, respectively. - Uc Device: The name of the UDPUC device configured above. -Before starting an application with an ABB hardware interface in AICA Studio, the motors and RAPID program on the robot +Before starting an application with an ABB hardware interface in Studio, the motors and RAPID program on the robot must be started manually through the teach pendant or RobotStudio. After that, running the application will connect to the robot and get information about the mechanical setup of the robot being used. diff --git a/docs/core/examples/guides/application-frames.md b/docs/core/examples/guides/application-frames.md index 4dffe23a7..30f926a26 100644 --- a/docs/core/examples/guides/application-frames.md +++ b/docs/core/examples/guides/application-frames.md @@ -7,9 +7,9 @@ import createFrame from './assets/create-frame.webm' import recordFrame from './assets/record-frame.webm' import editFrame from './assets/edit-frame.webm' -# Application Frames in AICA Studio +# Application Frames in Studio -This guide explains the various methods to create and modify application frames in AICA Studio. +This guide explains the various methods to create and modify application frames in Studio. :::tip @@ -17,10 +17,10 @@ If you haven't done so already, review the corresponding [concepts page](/docs/c ::: -There are two ways to access settings and functionality for application frames in AICA Studio, depending on where the 3D +There are two ways to access settings and functionality for application frames in Studio, depending on where the 3D scene lies: -- With the 3D scene on the main view of the AICA Studio editor, the options to create and record frames can be found +- With the 3D scene on the main view of the Studio editor, the options to create and record frames can be found under the **Scene** tab in the right panel. - With the 3D scene in the right panel, under **3D view**, the options can be found by clicking on the **Settings** button on the top left of the scene. diff --git a/docs/core/examples/guides/camera-calibration.md b/docs/core/examples/guides/camera-calibration.md index f0235cc91..dc2c27e1b 100644 --- a/docs/core/examples/guides/camera-calibration.md +++ b/docs/core/examples/guides/camera-calibration.md @@ -23,7 +23,7 @@ A calibration procedure allows you to determine your camera's intrinsic (focal l undistort images in real time, improving the spatial accuracy of detections and any downstream estimation tasks (e.g., pose reconstruction, depth reasoning, or robot alignment). -## Calibrate camera using AICA Studio and a checkerboard +## Calibrate camera using Studio and a checkerboard If you are using the `CameraStreamer` with a camera with an unknown calibration, we recommend to follow this guide with the code from the corresponding [`CameraStreamer` example](./camera-streamer.md). Cameras with first-party drivers (such @@ -75,7 +75,7 @@ where the calibration square sizes are in meters. :::warning -If you are using AICA's `CameraStreamer` example to produce the image stream, the above command should already work. If +If you are using the `CameraStreamer` example to produce the image stream, the above command should already work. If you are using your own node to stream images, you will likely need to specify which topic the calibrator needs to subscribe to by adding the `--calibration-topic YOUR_ROS_TOPIC` argument to the command above. @@ -95,8 +95,7 @@ Back at your host computer's filesystem, you will notice a `calibration` directo `docker-image/camera_calibration` that contains a compressed file. The file itself contains the images that were sampled along with a YAML file containing the camera calibration information. -Finally, move the YAML file into the `data` folder of your AICA configuration such that it becomes available from AICA -Studio. +Finally, move the YAML file into the `data` folder of your System configuration such that it becomes available from Studio.