diff --git a/docs/core/examples/guides/abb-hardware-interface.md b/docs/core/examples/guides/abb-hardware-interface.md
index 2e153fb3..b2710252 100644
--- a/docs/core/examples/guides/abb-hardware-interface.md
+++ b/docs/core/examples/guides/abb-hardware-interface.md
@@ -48,11 +48,11 @@ ABB permits remote control of its manipulator range using the Externally Guided
 provides external devices with the ability to send commands and control ABB robotic arms, using Google's Protocol
 Buffers (Protobuf) serialization library to transport information through UDP sockets. For more information, check out
 the
-[official product documentation](https://library.e.abb.com/public/344f15f0f43341eb944fe35279d9fa2e/3HAC073319+AM+Externally+Guided+Motion+RW6-en.pdf?x-sign=WlxgV7Vao27KV3d3hlsfaoykgctYqoA0F98ch89S%2FPEaGwQg47ou%2FioylQtzvLaV). 
+[official product documentation](https://library.e.abb.com/public/344f15f0f43341eb944fe35279d9fa2e/3HAC073319+AM+Externally+Guided+Motion+RW6-en.pdf?x-sign=WlxgV7Vao27KV3d3hlsfaoykgctYqoA0F98ch89S%2FPEaGwQg47ou%2FioylQtzvLaV).
 
 :::warning
 
-EGM is an optional add-in and has to be purchased separately. 
+EGM is an optional add-in and has to be purchased separately.
 
 :::
 
@@ -68,8 +68,8 @@ steps, which will be explained in the following sections. More information can b
 ### RAPID
 
 RAPID is the programming language of ABB robots. Users can utilize RAPID to set up and execute their workflows and
-processes. This is enabled by user-defined libraries called *Modules*, that contain variables and functions or
-processes (*PROCs*). Modules can then be loaded in controller *Tasks*, and called as required.
+processes. This is enabled by user-defined libraries called _Modules_, that contain variables and functions or
+processes (_PROCs_). Modules can then be loaded in controller _Tasks_, and called as required.
 
 ## Connecting to a robot
 
@@ -93,7 +93,7 @@ virtual machine.
 Setting up a virtual workstation and controller can be achieved by following the next steps:
 
 1. In RobotStudio, navigate to the **Add-Ins** tab and go to **Gallery**. There is a list of all available robot models
-   and RobotWare versions, the internal controller software. To ensure consistency between simulation and reality, make 
+   and RobotWare versions, the internal controller software. To ensure consistency between simulation and reality, make
    sure to install the versions matching the real robot controller, if one is available.
    <div class="text--center">
      <img src={abbInstallAddins} alt="Install necessary addins in RobotStudio." />
@@ -109,14 +109,14 @@ Setting up a virtual workstation and controller can be achieved by following the
    controller. Then select **Apply and Reset** to finalize.
    :::note
    The **3119-1 RobotStudio Connect** add-in is required to connect a controller to RobotStudio over a public network.
-   For more information, see the RobotStudio instruction manual. 
+   For more information, see the RobotStudio instruction manual.
    :::
    <div class="text--center">
      <img src={abbAdditionalOptions} alt="Additional options in the RobotStudio project." />
    </div>
 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
-   [here](https://forums.robotstudio.com/discussion/12082/using-robotwebservices-to-access-a-remote-virtual-controller), 
+   [here](https://forums.robotstudio.com/discussion/12082/using-robotwebservices-to-access-a-remote-virtual-controller),
    create a file called `vcconf.xml` under `C:/Users/<user>/AppData/Roaming/ABB Industrial IT/Robotics IT/RobVC` with
    the content below. Replace `<user>` 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).
@@ -387,24 +387,24 @@ robot. The majority of the hardware interface parameters enable connection to EG
   <img src={abbHIParameters} alt="ABB Hardware interface parameters" />
 </div>
 
-- RWS IP & port: the address and port of the RWS server, e.g. the address of the real robot or the RobotStudio device
+- **RWS IP & port**: the address and port of the RWS server, e.g. the address of the real robot or the RobotStudio device
   :::note
   OmniCore controllers and RobotWare 7.x versions by default listen on HTTPS and port 80 for RobotStudio and 443 for the
   real robot. If necessary, the port numbers can be modified by following the instructions in this
   [forum post](https://forums.robotstudio.com/discussion/12177/how-to-change-the-listening-port-of-the-virtual-controller-robotware-6-x-and-7-x).
   :::
-- EGM port: the port of the EGM server, e.g. the *Remote Port Number* of the UDPUC device defined in RobotStudio above
-- Connection timeout: the amount of time the hardware interface tries to connect to the RWS and EGM servers before
+- **EGM port**: the port of the EGM server, e.g. the _Remote Port Number_ of the UDPUC device defined in RobotStudio above
+- **Connection timeout**: the amount of time the hardware interface tries to connect to the RWS and EGM servers before
   reporting an error
-- Controller Task and Main Module name: Depends on the controller configuration and usually defaults to `T_ROB1` and
+- **Controller Task and Main Module name**: Depends on the controller configuration and usually defaults to `T_ROB1` and
   `AICA_EGM`, respectively.
-- Uc Device: The name of the UDPUC device configured above.
+- **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
 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.
 
-<!-- TODO: link example --> 
+<!-- TODO: link example -->
 
 <!-- <div class="text--center">
   <img src={abbRSSuccessfulConnection} alt="Connected to RobotStudio successfully." />
diff --git a/docs/core/examples/guides/fanuc-hardware-interface.md b/docs/core/examples/guides/fanuc-hardware-interface.md
index 52220d8c..d8ebe4ed 100644
--- a/docs/core/examples/guides/fanuc-hardware-interface.md
+++ b/docs/core/examples/guides/fanuc-hardware-interface.md
@@ -11,7 +11,7 @@ FANUC is one of the largest and most established industrial robotic manipulator
 technology and robust performance for a wide range of automation tasks.
 
 FANUC is one of the first major robot brands that enables accelerating Physical AI implementation through an official
-first-party ROS driver in the `ros2_control` framework 
+first-party ROS driver in the `ros2_control` framework
 ([article from Dec 2025](https://www.fanuc.co.jp/en/product/new_product/2025/202512_robot_physicalai.html)). This allows
 advanced programming platforms like the AICA System to control the robots in real-time and deploy complex behaviors
 without custom implementations.
@@ -27,6 +27,7 @@ hardware compatibility. The minimum robot controller software versions are:
 - R-50iA series: V10.10P/26
 
 Additionally, one of the following software options are required:
+
 - J519 Stream Motion and R912 Remote Motion
 - S636 External Control Package, which includes the previous
 
@@ -67,16 +68,16 @@ robot:
   <img src={fanucHI} alt="FANUC hardware interface." style={{ borderRadius: "8px" }} />
 </div>
 
-- Robot IP: the IP address of the robot 
-- RMI port: the port of the Remote Motion Interface (keep default unless otherwise configured on the robot controller)
-- Stream Motion Port: the port of Stream Motion (keep default unless otherwise configured on the robot controller)
-- GPIO configuration (v1.1.0 and above): an absolute path to a YAML file containing the GPIOs that should be configured
+- **Robot IP**: the IP address of the robot
+- **RMI port**: the port of the Remote Motion Interface (keep default unless otherwise configured on the robot controller)
+- **Stream Motion Port**: the port of Stream Motion (keep default unless otherwise configured on the robot controller)
+- **GPIO configuration (v1.1.0 and above)**: an absolute path to a YAML file containing the GPIOs that should be configured
   (see more information below)
-- Payload Schedule: the number of the payload to be set on the robot
-- Out Cmd Interp Buff Target: Output command interpolation buffer target size for stream motion control
-- Force Sensor Type (v1.1.0 and above): The type of force torque sensor to configure (see more information below)
+- **Payload Schedule**: the number of the payload to be set on the robot
+- **Out Cmd Interp Buff Target**: Output command interpolation buffer target size for stream motion control
+- **Force Sensor Type (v1.1.0 and above)**: The type of force torque sensor to configure (see more information below)
 
-Click **Start** to start the application and connect to the robot. 
+Click **Start** to start the application and connect to the robot.
 
 ### GPIO configuration
 
@@ -90,14 +91,14 @@ the driver starts. For detailed description, refer to the relevant sections in t
 The official documentation states the behavior as follows:
 
 > When outputs or numeric registers are added to the command section of the GPIO configuration YAML file, once the ROS 2
-  driver is launched those output and numeric register values in the controller will be set to false or zero.
+> driver is launched those output and numeric register values in the controller will be set to false or zero.
 
 However, the version of the driver provided by AICA takes additional care **not** to overwrite the value of the GPIOs on startup,
 and instead persists the initial value set on the robot controller.
 
 :::
 
-A example configuration of a GPIO configuration file could look as follows:
+An example configuration of a GPIO configuration file could look as follows:
 
 ```yaml
 gpio_topic_config:
@@ -115,10 +116,12 @@ gpio_topic_config:
 ```
 
 This configuration claims reads interfaces
+
 - DI[101], DI[102], and DI[103] (`start` is 101 and `length` is 3)
 - DO[101] (`start` is 101 and `length` is 1)
 
 and writes to interfaces
+
 - DO[101] and DO[102] (`start` is 101 and `length` is 2)
 
 In order for this configuration to be accepted by the hardware interface, it is necessary to add matching state and
@@ -143,13 +146,12 @@ command interfaces to the `ros2_control` section of the URDF as follows:
 
 ### Force torque sensor configuration
 
-Starting with driver version `collections/fanuc:v1.1.0` and robot controller software V9.40/P85, it is possible to read 
-force torque sensor values directly from the robot. The type of force sensor can be configured through the `force_sensor_type`
+Starting with driver version `collections/fanuc:v1.1.0` and robot controller software V9.40/P85, it is possible to read force torque sensor values directly from the robot. The type of force sensor can be configured through the `force_sensor_type`
 hardware parameter. Available types are:
 
-- 0: Unselected
-- 1: Embedded: for all CRX models with inbuilt sensor
-- 2: External: for robots with an external FANUC force torque sensor mounted at the flange
+- **0**: Unselected
+- **1**: Embedded: for all CRX models with inbuilt sensor
+- **2**: External: for robots with an external FANUC force torque sensor mounted at the flange
 
 :::note
 
@@ -157,7 +159,7 @@ Users without software V9.40/P85 should keep the type at 0 to be able to start t
 
 :::
 
-When the `force_sensor_type` is set to 1 or 2, the URDF must include the following `sensor` interfaces within the `ros2_control` 
+When the `force_sensor_type` is set to 1 or 2, the URDF must include the following `sensor` interfaces within the `ros2_control`
 element.
 
 ```xml
diff --git a/docs/core/examples/guides/orbbec-component.md b/docs/core/examples/guides/orbbec-component.md
index 47685646..f3981628 100644
--- a/docs/core/examples/guides/orbbec-component.md
+++ b/docs/core/examples/guides/orbbec-component.md
@@ -52,13 +52,13 @@ These commands will download and apply the udev rules. To ensure that the rules
 
 Start the AICA Launcher and add the `orbbec` package to your configuration.
 
-<div style={{ display: "flex", justifyContent: "center" }}>
-  <video autoPlay loop muted playsInline style={{ maxWidth: "100%", borderRadius: "8px" }}>
-    <source src={orbbecPackage} type="video/webm" />
-    Adding the Orbbec package.
-  </video>
-</div>
-<br/>
+  <div style={{ display: "flex", justifyContent: "center" }}>
+    <video autoPlay loop muted playsInline style={{ maxWidth: "100%", borderRadius: "8px" }}>
+      <source src={orbbecPackage} type="video/webm" />
+      Adding the Orbbec package.
+    </video>
+  </div>
+  <br/>
 
 Select **Launch AICA Studio** to proceed.
 
@@ -70,22 +70,22 @@ Start by creating a new application.
 2. In the **Add components** section of the **Scene** tab, locate the **Orbbec Camera** component. Click to add to the
    graph.
 3. Next, connect the component to the start block.
-    <div style={{ display: "flex", justifyContent: "center" }}>
-      <video autoPlay loop muted playsInline style={{ maxWidth: "100%", borderRadius: "8px" }}>
-        <source src={orbbecNewApp} type="video/webm" />
-        Creating a new Orbbec Camera component.
-      </video>
-    </div>
+  <div style={{ display: "flex", justifyContent: "center" }}>
+    <video autoPlay loop muted playsInline style={{ maxWidth: "100%", borderRadius: "8px" }}>
+      <source src={orbbecNewApp} type="video/webm" />
+      Creating a new Orbbec Camera component.
+    </video>
+  </div>
 4. Press **Start** to start the application.
 5. To see the live camera feed, click on the gear icon on the bottom right and select **Launch RViz**.
 6. In RViz, select _Add > By topic > /orbbec_camera/color_image > Image_. This adds a panel that shows the live color
    image. The depth image can also be found under _/orbbec_camera/depth_image > Image_.
-    <div style={{ display: "flex", justifyContent: "center" }}>
-      <video autoPlay loop muted playsInline style={{ maxWidth: "100%", borderRadius: "8px" }}>
-        <source src={orbbecRvizColor} type="video/webm" />
-        Starting and checking camera live stream.
-      </video>
-    </div>
+  <div style={{ display: "flex", justifyContent: "center" }}>
+    <video autoPlay loop muted playsInline style={{ maxWidth: "100%", borderRadius: "8px" }}>
+      <source src={orbbecRvizColor} type="video/webm" />
+      Starting and checking camera live stream.
+    </video>
+  </div>
 
 :::tip
 
@@ -103,14 +103,14 @@ still encounter problems getting the video stream, contact the AICA support team
 
 Click on the `Orbbec Camera` component block to view and edit the available parameters.
 
-<div class="text--center">
-  <img src={orbbecCameraParameters} alt="Basic Orbbec camera parameters" />
-</div>
+  <div class="text--center">
+    <img src={orbbecCameraParameters} alt="Basic Orbbec camera parameters" />
+  </div>
 
 Hovering over the exclamation marks next to the names shows a detailed description of the corresponding parameter. Let's
 explain some of these here:
 
-- `Color/Depth Width/Height/FPS`: these refer to the resolution and frame rate of the color and depth images. Keep in
+- **Color/Depth Width/Height/FPS**: these refer to the resolution and frame rate of the color and depth images. Keep in
   mind that only specific pairs of integer values apply here. For more information check the camera's documentation.
 
   :::tip
@@ -119,9 +119,9 @@ explain some of these here:
 
   :::
 
-- `Enable Alignment`: flag that activates the spatial alignment of the depth image to the corresponding color image.
+- **Enable Alignment**: flag that activates the spatial alignment of the depth image to the corresponding color image.
   Generates a depth image with the same size as the color, with depth expressed in the color camera coordinate system.
-- `Enable Threshold Filter`: flag that activates a threshold filter in the depth image. If activated, corresponding
+- **Enable Threshold Filter**: flag that activates a threshold filter in the depth image. If activated, corresponding
   filter parameters can be directly defined in the YAML editor to configure the filter behavior. To see what parameters
   can be defined, read the description by hovering over the exclamation mark.
   <div class="text--center">
diff --git a/docs/core/examples/guides/realsense-component.md b/docs/core/examples/guides/realsense-component.md
index ad5833e4..b479df8e 100644
--- a/docs/core/examples/guides/realsense-component.md
+++ b/docs/core/examples/guides/realsense-component.md
@@ -55,12 +55,12 @@ Start by creating a new application.
 2. In the **Add components** section of the **Scene** tab, locate the **RealSense Camera** component. Click to add to
    the graph.
 3. Next, connect the component to the start block.
-    <div style={{ display: "flex", justifyContent: "center" }}>
-      <video autoPlay loop muted playsInline style={{ maxWidth: "100%", borderRadius: "8px" }}>
-        <source src={realsenseNewApp} type="video/webm" />
-        Creating a new RealSense Camera component.
-      </video>
-    </div>
+<div style={{ display: "flex", justifyContent: "center" }}>
+  <video autoPlay loop muted playsInline style={{ maxWidth: "100%", borderRadius: "8px" }}>
+    <source src={realsenseNewApp} type="video/webm" />
+    Creating a new RealSense Camera component.
+  </video>
+</div>
 4. Press **Start** to start the application.
 5. To see the live camera feed, click on the gear icon on the bottom right and select **Launch RViz**.
 6. In RViz, select _Add > By topic > /realsense_camera/color_image_raw > Image_. This adds a panel that shows the live
@@ -83,11 +83,11 @@ Click on the `RealSense Camera` component block to view and edit the available p
 Hovering over the exclamation marks next to the names shows a detailed description of the corresponding parameter. Let's
 explain some of these here:
 
-- `Color/Depth profile`: these refer to the resolution and frame rate of the color and depth images. Keep in mind that
+- **Color/Depth profile**: these refer to the resolution and frame rate of the color and depth images. Keep in mind that
   only specific pairs of values apply here. For more information check the camera's documentation.
-- `Enable alignment`: flag that activates the alignment of the depth image to the corresponding color image. Enables the
-  **Aligned depth image** output, containing a depth image with the same size as the color.
-- `Enable temporal filter`: flag that activates a temporal filter which improves depth data persistency by manipulating
+- **Enable alignment**: flag that activates the alignment of the depth image to the corresponding color image. Enables the
+  `Aligned depth image` output, containing a depth image with the same size as the color.
+- **Enable temporal filter**: flag that activates a temporal filter which improves depth data persistency by manipulating
   per-pixel values based on previous frames. If activated, corresponding filter parameters can be directly defined in
   the YAML editor to configure the filter behavior. To see what parameters can be defined, read the description by
   hovering over the exclamation mark.
diff --git a/docs/core/examples/guides/ur-harware-interface.md b/docs/core/examples/guides/ur-harware-interface.md
index 67fadeb0..0c65fb38 100644
--- a/docs/core/examples/guides/ur-harware-interface.md
+++ b/docs/core/examples/guides/ur-harware-interface.md
@@ -474,15 +474,15 @@ with the `Headless mode` set to false, other features of the `UR Dashboard Contr
 
 The controller provides four services:
 
-- Hand back control: See [the example above](#run-an-aica-application-as-one-node-of-a-program).
-- Zero FT sensor: Triggering this service zeros the built-in force torque sensor.
-- Set payload: If the payload of the robot changes during the application, for example by picking up an object, this
+- **Hand back control**: See [the example above](#run-an-aica-application-as-one-node-of-a-program).
+- **Zero FT sensor**: Triggering this service zeros the built-in force torque sensor.
+- **Set payload**: If the payload of the robot changes during the application, for example by picking up an object, this
   service can be used to update the payload setting on the robot. Given the mass and center of gravity, call the service
   with
   ```json
   {mass: 1.2, cog: [0.15, 0.1, 0.05]}
   ```
-- Resend robot program: In case the hardware interface was launched with `Headless Mode` set to true and the UR program
+- **Resend robot program**: In case the hardware interface was launched with `Headless Mode` set to true and the UR program
   has been stopped for some reason, this service can be triggered to restart the external control to be able to send
   commands to the robot again.
 
diff --git a/docs/core/examples/guides/ur-sim-guide.md b/docs/core/examples/guides/ur-sim-guide.md
index 9184206f..e9aacb31 100644
--- a/docs/core/examples/guides/ur-sim-guide.md
+++ b/docs/core/examples/guides/ur-sim-guide.md
@@ -71,7 +71,7 @@ For a detailed description of the available arguments, use:
 ./run.sh -h
 ```
 
-Successfull execution of the command will produce an output such as the following:
+Successful execution of the command will produce an output such as the following:
 
 ```bash
 ROBOT_MODEL: ur5e
diff --git a/docs/core/examples/guides/yolo-example.md b/docs/core/examples/guides/yolo-example.md
index a91c6f39..e6977b5e 100644
--- a/docs/core/examples/guides/yolo-example.md
+++ b/docs/core/examples/guides/yolo-example.md
@@ -122,10 +122,11 @@ In AICA Launcher, create a configuration with the following core version and pac
 :::info
 AICA toolkits are the curated way of bundling Machine Learning (ML) and GPU (specifically CUDA) acceleration libraries.
 In short:
+
 - ML toolkits contain a broad range of libraries that are often required to conduct ML inference and/or training
-(e.g., pytorch, scipy, etc)
+  (e.g., pytorch, scipy, etc)
 - CUDA toolkits contain libraries pertinent to interface CUDA-compatible code and libraries
-with a NVIDIA GPU.
+  with a NVIDIA GPU.
 
 If you do not own a GPU or want CPU accleration only, bundling our CUDA toolkits is not necessary. For instance, your
 AICA Launcher configuration could look as follows:
@@ -158,7 +159,7 @@ you are still at the **Advanced Settings** menu:
 - Click on **Add a volume mount +**.
 - Click on **Browse** and navigate to the location of the `yolo-example-data` folder.
 - On the right side, where a `/target` placeholder text is visible, type a name for the target directory inside your
-AICA container. For simplicity you can use `/yolo-example-data`.
+  AICA container. For simplicity you can use `/yolo-example-data`.
 
 :::info
 
@@ -181,12 +182,12 @@ Let us build a YOLO application from scratch.
 - Create a new application
 - Remove the default Hardware Interface node for now
 - Add the Camera Streamer component from the core vision package
-    - Set the `Source` parameter to a video device or file accordingly
-    - Enable **auto-configure** and **auto-activate**
+  - Set the `Source` parameter to a video device or file accordingly
+  - Enable **auto-configure** and **auto-activate**
 - Add the `YoloExecutor` component
-    - Set the `Model path` parameter to the `.onnx` file, e.g., `/yolo-example-data/yolo12n.onnx`
-    - Set the `Classes path` parameter to the yaml label file, e.g., `/yolo-example-data/coco.yaml`
-    - Enable **auto-configure** and **auto-activate**
+  - Set the `Model path` parameter to the `.onnx` file, e.g., `/yolo-example-data/yolo12n.onnx`
+  - Set the `Classes path` parameter to the yaml label file, e.g., `/yolo-example-data/coco.yaml`
+  - Enable **auto-configure** and **auto-activate**
 - Connect the output of the start node to each component to load them when the application is started
 - Connect the `Image` output of the Camera Streamer to the `Image` input of the `YoloExecutor`
 
@@ -198,23 +199,25 @@ sense). The following picture shows the available parameters:
 </div>
 
 More specifically, you can adapt:
-- `Model path`: filepath to your YOLO model
-- `Classes path`: filepath to your classes file, making the mapping between predicted object IDs and object names
-- `Object class`: will narrow the `Detections` output to the selected classes alone (one or more classes included in the
-class file)
-- `Confidence threshold`: the minimum score a predicted bounding box must have to be considered a valid detection
-- `IOU Threshold`: used during Non-Maximum Suppression (NMS) to decide whether two bounding boxes represent the same
-object. For example, if `IOU threshold` is set to 0.5, any box that overlaps more than 50% with a higher-scoring box
-will be discarded.
-- `Prefer GPU`: sets GPU as the preferred inference device. However, if you use a CPU toolkit image with `Prefer GPU`
-toggled on, then the component will ultimately gracefully fall back to using the CPU
-- `Number of CPU threads`: to get the most out of your system's resources. Notice that this parameter has no effect when
-a GPU is used
+
+- **Model path**: filepath to your YOLO model
+- **Classes path**: filepath to your classes file, making the mapping between predicted object IDs and object names
+- **Object class**: will narrow the `Detections` output to the selected classes alone (one or more classes included in the
+  class file)
+- **Confidence threshold**: the minimum score a predicted bounding box must have to be considered a valid detection
+- **IOU Threshold**: used during Non-Maximum Suppression (NMS) to decide whether two bounding boxes represent the same
+  object. For example, if `IOU threshold` is set to 0.5, any box that overlaps more than 50% with a higher-scoring box
+  will be discarded.
+- **Prefer GPU**: sets GPU as the preferred inference device. However, if you use a CPU toolkit image with `Prefer GPU`
+  toggled on, then the component will ultimately gracefully fall back to using the CPU
+- **Number of CPU threads**: to get the most out of your system's resources. Notice that this parameter has no effect when
+  a GPU is used
 
 To complement the parameters and enable event-driven logic when using the component, two predicates exist, namely:
-- `Is any selected class detected`: True if one of the classes in the `Object class` list is detected
-- `Is any object detected`: True if there is any known object (i.e., as per the class file provided) in the image stream
-(including but not limited to `Object class`)
+
+- **Is any selected class detected**: True if one of the classes in the `Object class` list is detected
+- **Is any object detected**: True if there is any known object (i.e., as per the class file provided) in the image stream
+  (including but not limited to `Object class`)
 
 Your application should now look similar to the following picture:
 
@@ -225,11 +228,12 @@ Your application should now look similar to the following picture:
 ### Running the application
 
 Open the application we built in the previous step, if you are not already there. Then:
+
 - open **RViz**: select "Launch RViz" from the Launcher settings
 - in **RViz**: press Add &rarr; By topic &rarr; `/yolo_executor/annotated_image/Image` to view the YOLO model's
-annotated output. It should show the camera images with bounding boxes drawn around key objects. The bounding boxes are
-published on the `yolo_executor/detections` topic as `vision_msgs/msg/Detection2DArray`, a ROS perception message (e.g.,
-containing bounding box coordinates, class name, score, ...).
+  annotated output. It should show the camera images with bounding boxes drawn around key objects. The bounding boxes are
+  published on the `yolo_executor/detections` topic as `vision_msgs/msg/Detection2DArray`, a ROS perception message (e.g.,
+  containing bounding box coordinates, class name, score, ...).
 
 :::note
 
@@ -254,8 +258,8 @@ off-the-self webcams and the standard YOLO models in mind, meaning:
 
 1. The object orientation is not taken into account when generating a twist. That is, no angular velocity is generated.
 2. No depth information is available and/or considered. The component operates in pixel space and is invariant to an
-object's movement along the depth axis. That is, only 2D motion will be observed, and the depth axis will have zero
-velocity.
+   object's movement along the depth axis. That is, only 2D motion will be observed, and the depth axis will have zero
+   velocity.
 
 #### Set up the repository
 
@@ -265,6 +269,7 @@ velocity.
   ```bash
   ./initialize_templates.sh
   ```
+
   This will launch a wizard to set up your package. Choose the following options:
   - Package type: `Components`
   - Package name: `object_detection_utils`
@@ -272,7 +277,7 @@ velocity.
 
 - Rename `py_lifecycle_component.py` to `bounding_box_tracker.py` in `source/object_detection_utils/object_detection_utils/`
 - Rename `object_detection_utils_py_lifecycle_component.json` to `object_detection_utils_bounding_box_tracker.json` in
-`source/object_detection_utils/component_descriptions/`
+  `source/object_detection_utils/component_descriptions/`
 - Register the component in `source/object_detection_utils/setup.cfg` like this:
 
 ```cfg
@@ -517,12 +522,12 @@ component under that menu.
 ### Application setup
 
 - Add the `BoundingBoxTracker` component to the previously configured application
-    - Turn on **auto-configure** and **auto-activate**
-    - Set the `Rate` to roughly match your camera's FPS, e.g., to 30
-    - Set the `Control gains` to values that are sensible for your robot and your desired responsiveness
-    - Set `Deadband` (i.e., a banded region of acceptable error within which no twist is generated) to your liking
-    - Set the `Decay rate` (i.e., the rate at which a twist will decay if no object is detected) per your application's
-  needs
+  - Turn on **auto-configure** and **auto-activate**
+  - Set the `Rate` to roughly match your camera's FPS, e.g., to 30
+  - Set the `Control gains` to values that are sensible for your robot and your desired responsiveness
+  - Set `Deadband` (i.e., a banded region of acceptable error within which no twist is generated) to your liking
+  - Set the `Decay rate` (i.e., the rate at which a twist will decay if no object is detected) per your application's
+    needs
 - Connect the `Detections` output of `YoloExecutor` to the `Detections` input of `BoundingBoxTracker`
 
 #### Commanding the robot with the generated twist
@@ -776,4 +781,4 @@ graph:
           y: 120
 ```
 
-</details>
\ No newline at end of file
+</details>