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− | [[File:Intera_Studio_5_1 v5.png|center | + | [[File:Intera_Studio_5_1 v5.png|1200px|center]] |
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− | [[File:Node_Palette_5_1.png| | + | [[File:Node_Palette_5_1.png|119px|thumb|Node Palette]] |
'''Service''' | '''Service''' | ||
− | *[[File:Vision 5_1.png|25px]] [[ | + | *[[File:Vision 5_1.png|25px]] [[Vision Locate|Vision Locate:]] Find and track the position of a trained snapshot. |
− | *[[File:Landmark 5_1.png|25px]] [[Landmark_Node| | + | *[[File:Vision_inspect.png|27px]] [[Vision_Inspect|Vision Inspect:]] Look for the absence or presence of a trained snapshot. |
+ | *[[File:Landmark 5_1.png|25px]] [[Landmark_Node|Landmarks:]] Checks and updates Landmarks during a task. | ||
*[[File:ContactMode 5_1.png|25px]] [[Contact Mode|Contact Mode:]] Set up part of task to move with contact. | *[[File:ContactMode 5_1.png|25px]] [[Contact Mode|Contact Mode:]] Set up part of task to move with contact. | ||
− | *[[File:ContactMove 5_1.png|25px]] [[Contact Node|Contact:]] | + | *[[File:ContactMove 5_1.png|25px]] [[Contact Node|Contact:]] Success is based on applying or meeting contact. |
*[[File:Pattern 5_1.png|25px]] [[Pattern_Node|Pattern:]] Specify the structure of a pattern. | *[[File:Pattern 5_1.png|25px]] [[Pattern_Node|Pattern:]] Specify the structure of a pattern. | ||
'''Errors''' | '''Errors''' | ||
− | *[[File:CatchError 5_1.png| | + | *[[File:CatchError 5_1.png|26px]] [[Catch_Error_Node|Catch & Handle Error:]] Specify custom handling for errors. |
*[[File:ThrowError 5_1.png|25px]] [[Throw_Error_Node|Throw Error:]] Specify a point in a task as an error. | *[[File:ThrowError 5_1.png|25px]] [[Throw_Error_Node|Throw Error:]] Specify a point in a task as an error. | ||
'''Templates''' | '''Templates''' | ||
− | *[[File: | + | *[[File:Template_Icon.png|25px]] [[Templates|Templates:]] View all and choose Rethink Robotics or Custom templates. |
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+ | == Task Bar == | ||
+ | |||
+ | [[File:Task_Bar.png|500px|thumb|Task Bar]] | ||
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+ | * [[File:Node Inspector TB.png|30px]] [[Node_Editor|Node Editor]] - Display and edit node settings | ||
+ | * [[File:Joints TB.png|30px]] [[Joints Panel|Joints]] - Indicates position of each joint | ||
+ | * [[File:Frames TB.png|30px]] [[Frames_Panel|Frames]] - View all frame relationships and create custom frames | ||
+ | * [[File:Vision TB.png|30px]] [[Vision|Vision]] - Create Locate, Inspect, and Landmark snapshots | ||
+ | * [[File:Tools TB.png|30px]] [[End_Effectors_Panel|Tools]] - Configure end of arm tooling | ||
+ | * [[File:Signals TB.png|30px]] [[Signals_Panel|Signals]] - Configure all external device signals | ||
+ | * [[File:Device Editor TB.png|30px]] [[Device Editor|Device Editor]] - Configure external devices for supported communications protocols | ||
+ | * [[File:User Variables TB.png|30px]] [[User Variables|User Variables]] - Create and set custom user variables | ||
+ | * [[File:Shared Data TB.png|30px]] [[Shared_Data_Panel|Shared Data]] - Single menu view of all robot data including signals, variables, I/O, and endpoints | ||
+ | * [[File:Log TB.png|30px]] [[Logs_Panel|Log]] - View robot log status | ||
+ | * [[File:Insights.png|30px]] [[Intera_Insights|Intera Insights]] - Configure task key performance indicators | ||
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+ | </div> | ||
<div class="content-block"> | <div class="content-block"> | ||
== Behavior Editor == | == Behavior Editor == | ||
− | [[File:Behavior_Editor_5_1.png| | + | [[File:Behavior_Editor_5_1.png|410px|thumb|Behavior Editor]] |
*[[Behavior_Editor_Overview|Behavior Editor Overview]] | *[[Behavior_Editor_Overview|Behavior Editor Overview]] | ||
*[[Behavior_Editor_Navigation|Behavior Editor Navigation]] | *[[Behavior_Editor_Navigation|Behavior Editor Navigation]] | ||
*[[Right_Click_Menu|Right Click Menu]] | *[[Right_Click_Menu|Right Click Menu]] | ||
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== 3D View == | == 3D View == | ||
+ | [[File:3D_full.png|510px|thumb|3D View]] | ||
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* [[3D_View_Overview|3D View Overview]] | * [[3D_View_Overview|3D View Overview]] | ||
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== Top Bar == | == Top Bar == | ||
− | *[[File:Play_Task.png|25px]] ''' | + | *[[File:Play_Task.png|25px]] '''Continue Task''' - Starts the task from the beginning, or continues where the robot left off after stopping the task. Can be used in Live and Simulation modes. |
*[[File:Step_Through_Task.png|25px]] '''Step Through Task''' - Steps through the task one node at a time. Can be used in Live and Simulation modes. | *[[File:Step_Through_Task.png|25px]] '''Step Through Task''' - Steps through the task one node at a time. Can be used in Live and Simulation modes. | ||
− | *[[File:Reset_Task.png|25px]] ''' | + | *[[File:Reset_Task.png|25px]] '''Restart Task''' - Resets the task data and starts the robot from the beginning of the task. |
*[[File:Stop_Task.png|25px|]] '''Stop Task''' - Stops the task from running. Stop button will appear after run is selected. Can be used in Live and Simulation modes. | *[[File:Stop_Task.png|25px|]] '''Stop Task''' - Stops the task from running. Stop button will appear after run is selected. Can be used in Live and Simulation modes. | ||
+ | *[[File:Disables_Robots_Arm_Motors.png|25px|]] '''Disable Robot's Arm Motors''' - Stops power to the robot's arm motors. '''Emergency stop activated at Sawyer''' message will appear on Studio. | ||
+ | *[[File:Reenable_Robots_Motors.png|25px|]] '''Re-enable Robot's Arm Motors''' - Resumes power to Sawyer's arm motors. This button only appears if the motors have been disabled. | ||
*[[File:Run_Settings.png|25px]] '''Run Settings''' - Use to adjust the run settings. Toggle the input and output signals to fire for a particular task run. Great tool for setting up and troubleshooting a task. | *[[File:Run_Settings.png|25px]] '''Run Settings''' - Use to adjust the run settings. Toggle the input and output signals to fire for a particular task run. Great tool for setting up and troubleshooting a task. | ||
− | [[File:Run_Settings_Window.png]] | + | :[[File:Run_Settings_Window.png]] |
− | *[[File:Live_Sim_Toggle.png|100px]] - Toggles the mode between '''LIVE''' (on robot) and '''SIM''' (simulation only runs in software - robot will not move) | + | *[[File:Live_Sim_Toggle.png|100px]] - Toggles the mode between '''LIVE''' (on robot) and '''SIM''' (virtual simulation only runs in software when connected to the robot - robot will not move) |
*[[File:Spit_View_Toggle.png|200px]] - Toggles the Intera Studio screen view between '''Behavior Editor''' Only, '''Split Screen''', and '''3D View''' Only. | *[[File:Spit_View_Toggle.png|200px]] - Toggles the Intera Studio screen view between '''Behavior Editor''' Only, '''Split Screen''', and '''3D View''' Only. | ||
</div> | </div> |
Latest revision as of 14:12, 6 August 2018
Node Palette
Actions
Move To: Set a move and how to move to it.
Set To: Set a variable for a variable or signal.
Wait: Wait for a set amount of time.
Wait Until: Wait until a condition is satisfied.
Logic
Sequence: Do one at a time, in order.
Priority: Do one at a time, in order. Return after any one succeeds or all fail.
Parallel: Do all at the same time. Choose what success and failure mean.
Do If: Do once if condition is true. Return as failure if false.
Loop If: Do and repeat as long as condition is true.
Loop: Repeat for a set number of times, or indefinitely.
Service
Vision Locate: Find and track the position of a trained snapshot.
Vision Inspect: Look for the absence or presence of a trained snapshot.
Landmarks: Checks and updates Landmarks during a task.
Contact Mode: Set up part of task to move with contact.
Contact: Success is based on applying or meeting contact.
Pattern: Specify the structure of a pattern.
Errors
Catch & Handle Error: Specify custom handling for errors.
Throw Error: Specify a point in a task as an error.
Templates
Templates: View all and choose Rethink Robotics or Custom templates.
Task Bar
Node Editor - Display and edit node settings
Joints - Indicates position of each joint
Frames - View all frame relationships and create custom frames
Vision - Create Locate, Inspect, and Landmark snapshots
Tools - Configure end of arm tooling
Signals - Configure all external device signals
Device Editor - Configure external devices for supported communications protocols
User Variables - Create and set custom user variables
Shared Data - Single menu view of all robot data including signals, variables, I/O, and endpoints
Log - View robot log status
Intera Insights - Configure task key performance indicators
Behavior Editor
Studio Menu
- New
- Open
- Save
- Save As
- Export Tasks
- Import Task
- Import Templates
- Export Templates
- About
- Settings
- Help
- Export Logs
- Lock Robot
Top Bar
Continue Task - Starts the task from the beginning, or continues where the robot left off after stopping the task. Can be used in Live and Simulation modes.
Step Through Task - Steps through the task one node at a time. Can be used in Live and Simulation modes.
Restart Task - Resets the task data and starts the robot from the beginning of the task.
Stop Task - Stops the task from running. Stop button will appear after run is selected. Can be used in Live and Simulation modes.
Disable Robot's Arm Motors - Stops power to the robot's arm motors. Emergency stop activated at Sawyer message will appear on Studio.
Re-enable Robot's Arm Motors - Resumes power to Sawyer's arm motors. This button only appears if the motors have been disabled.
Run Settings - Use to adjust the run settings. Toggle the input and output signals to fire for a particular task run. Great tool for setting up and troubleshooting a task.