Creating a Sequence of Moves

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Overview

This tutorial demonstrates how to create a basic sequence of moves in Intera Studio.

Definitions

  • Waypoint - a point in space that the robot moves to during task execution. Waypoints are created by adding Move To nodes.


Training a Sequence of Moves

1. Begin by starting a new task and connecting to the robot.

2. Move the arm to an arbitrary location using Zero-G mode.

3. Select the Sequence Node named Task and add a Move To MoveTo 5 1.png node.

4. Give the node an appropriate name such as "Move 1" or "Approach".

5. Select AddArmPose.png to train this position.

6. Add a brief wait after by selecting the Wait Wait 5 1.png node and give it an appropriate name like "1s".

7. Set the desired wait time.

8. Next, move the arm to another arbitrary location using Zero-G mode.

9. Add a Move To node and give it an appropriate name such as "Move 2" or "Retract".

10. Select AddArmPose.png to train this position.

11. Finally, add another brief wait by selecting the Wait node and setting the desired wait time. Give this node an appropriate name as well.

12. In the Top Bar press the Play button Play Task.png to begin executing the task.


The behavior tree should look like this when complete:

BasicMoves.png

Best Practices

  • Providing unique and logical names to nodes is an important habit to make early on. As the behavior tree grows in size, troubleshooting a task becomes much easier and saves time when nodes are properly named.
  • Move To nodes can be considered waypoints. Wait nodes instruct the robot to pause for a desired amount of time. When the task executes, follow along in the behavior tree to determine if the robot is moving to its next waypoint or pausing.