Overview

This document provides the documentation for the Robot Integrated Development Environment (RIDE). The main parts of the Franka Emika robot system are shown below:

Core as the interface between state machines, clients and services.

State machines are basic units of execution on the robot. They call services, execute scripts, and can contain other state machines. All Apps as seen in Desk are state machines. The model behind state machines - its syntax and semantics - is called the core model.

Bundles are versioned collections of state machines and related resources, such as icons.

The core provides interfaces for clients, executes state machines, and facilitates the communication with services. The core also stores bundles and ensures newly uploaded bundles are consistent with existing ones.

Both Desk and ride-cli are clients. They interact with state machines through interfaces provided by the core. State machines have a textual representation in a language called Lingua Franka. These textual representations of state machines are stored in .lf files.

Services are any systems which need to be controlled or monitored from state machines. For example, the arm itself is implemented as a service called robot. Other services include the gripper, pilot, modbus and so on.