AICA Core v4.4.2

[domire8]

Version 4.4.2 includes ongoing improvements and fixes to the AICA Core. It integrates a new version of Modulo that includes a command reset mechanism in controllers and an updated Core Collection that comes with a new component and even more features in the Joint Trajectory Controller.

AICA Studio

This patch ensures that signals no longer wrongly label certain combinations of compatible signal types as incompatible, and double-type parameters set through transition events are correclty formatted with floating point precision. This update also revises some UI elements for better clarity.

Features

• Improve UI of badges and collapsible fields in state table
• Improve editor tooltips and UI feedback

Fixes

• State compatibility for signals
• Format double-type parameter set events for transitions

Core Collection

A new component CartesianSignalFromParameters was added and can be used to generate a Cartesian Signal. Component descriptions have been revised again with regard to units and inheritance.

In the Joint Trajectory Controller, durations per waypoint (along with times from start) are now accepted in the service payload, it exposes a state signal carrying information about the desired and actual states of the robot, and if blending is activated, the first waypoint is already blended starting from the initial joint state.