The 3D view of Intera Studio shows a model of Sawyer in the virtual work space. Similar to other Studio views, the Top Bar, Task Bar, Tool Bar, and Studio Menu appear on the Studio screen. Pressing the icon in the bottom right corner opens the Cartesian View.
The 3D view can be a useful tool when troubleshooting the behavior of a task. Follow the motion of the robot in the 3D view during task execution. Any moving frames will be represented in the 3D view while the task is running.
The Robot Model
If the Live slider is activated , the 3D view will match the physical position of Sawyer in real space and the robot model will appear in color. Any movement of the robot in real space will be translated to the 3D view. Any positional changes made in the studio will cause the robot to move in real space. When a task is executed the 3D view will mirror all of Sawyer's movements.
If the Live slider is not activated , the robot model will appear transparent and the 3D view Sawyer can be moved independently of the robot in real space. This mode acts as a simulation when executing a task.
Nodes and Frames in the 3D View
|Move To node positions are represented in the 3D view as black spheres.|
|When a node is selected in the 3D view it turns orange. Also while the task is running, the next node that the robot is moving to turns orange.|
|Patterns are represented as small purple spheres.|
|Frames are represented as grey planes.|
Several different frames will be shown in the 3D view at any point in time. For example, each Move To node has a frame which can be seen by selecting its dot in the 3D view. The active endpoint frame can be seen by clicking anywhere on the robot. These frames are defined by three colored arrows (red, blue, and green) which extend out from the center point of the frame.
Adjusting the Viewpoint
The 3D view can be manipulated using the mouse.
- Scroll up - Zoom in
- Scroll down - Zoom out
- Right click and move - Rotate about Sawyer center
- Right + Left click and move - Pan up, down, left, or right in the current view. Tip: Press the right mouse button before the left when panning.
The Cartesian View is primarily used to increment the position (x, y, z) or rotation (Rx, Ry, Rz) of Sawyer by clicking the up or down arrow on the the respective axis. The default increment value is 5 mm. Additionally, a specific coordinate can be typed into Cartesian View to move the robot to the specified coordinates. Click on the respective axis and begin typing a valid number. The Cartesian View can be used to the move the robot in the work space, or to edit Move To Nodes already created in the task.
Sawyer's position and rotation can be incremented relative to any Reference Frame that has been created in the task. Choose the relative frame by selecting the Reference Frame from the drop down menu. The default frame is the base frame. When this is selected, the endpoint of the robot will move relative to its base. Changing the Reference Frame may not be apparent for positional changes but becomes very important for rotational changes. Rotation about the x axis relative to the base frame is much different than rotation about the x axis relative to the active endpoint. By selecting active endpoint frame from this drop down list, the magnitude of rotation is much smaller because the robot is only moving relative to the active endpoint.
The pivot point identifies the selected item to orbit around, using the reference frame's axes.
Jogging Relative to the Robot Tool Center Point
To actively jog (live) the robot in the work space, click the cursor anywhere on the Sawyer robot model in the 3D View. When the robot model is selected the Cartesian View title and the pivot point will state "Robot tool center point" . The robot will move as you click on the Cartesian View arrows.
Jogging a Specific Move To node Selected in the Behavior Tree
If a Move To node in selected in the Behavior Tree Editor the Cartesian View title will appear highlighted in orange and list the the name of the node, for example . The pivot point will indicate which Move node that rotational jogs will be relative to. This will edit the position of the Move To node that is selected when jogging, changes are observed in the 3D view. The physical robot will not move while clicking the Cartesian View. In the event a Move To node was inadvertently edited while jogging, this may require an undo, update, or retrain the pose.
The arm can also be moved using the keyboard. Clicking the icon in the lower left corner of the screen will show the hotkeys used to move the robot without using the Cartesian View. Pressing the corresponding letter will increment position. Holding Shift and pressing the corresponding letter will increment rotation.