Application Frames in AICA Studio

This guide explains the various methods to create and modify application frames in AICA Studio.

tip

If you haven't done so already, review the corresponding concepts page first.

There are two ways to access settings and functionality for application frames in AICA 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 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.

Create a frame

The "Create a frame" option can be used to create a new named frame, which can then be dragged to the desired location in the scene. The position, orientation and reference frame of the frame appear under frames in the application YAML and are updated on drag.

note

Frames are created at the origin of the scene and have reference frame world by default.

Record a frame

Application frames can be created by recording an existing frame from TF. The "Record a frame" option allows to save any available frame from TF under a new name in a running application. This can be useful to obtain the end-effector pose of a robot in various locations, which will then be used as waypoints for the robot movements in the application flow. In the example below, the end-effector frame tool0 of the robot is recorded as target.

note

Frames are recorded in reference frame world by default. In the future, recording frames in configurable reference frames might be supported.

Edit frames in application YAML

Users that are familiar with the application YAML can also add, remove, and edit frames in the application YAML.