This page provides a detailed overview about the Workspace Snapshot, which will be implemented in Intera 5.5.

Contents

• Contents
• Node Description
• Node Editor
• Example

Node Description

Workspace Snapshot Node

This node is used to take an image snapshot of the workspace environment using the head or the arm camera during a task. The snapshot could be be saved locally in the task snapshot gallery or sent over email, along with the time and task details.

Node Type

Primitive - Cannot have children.

Node Editor

• TEST

Please see “TEST WINDOW” below.

• +HEAD POSE

Set the arm or head pose to the current pose of the robot (either live or sim, depending what mode you're in).If you would like to choose arm pose instead of head pose you should to change the camera to Arm Camera first.

• UPDATE HEAD POSE / UPDATE ARM POSE (only after pose is set)

Update the head or arm pose to the current pose of the robot

• ID

Not editable

• name

Auto generated and user editable

• camera

This menu gives the option to select which camera will take the snapshot, head camera or arm camera.

• send email

This toggle gives the option to send the snapshot as an email additionally to save it locally in the gallery snapshot. Please see the “Settings explanation” below if you would like to send the snapshot over an email.

• email

This field should be filled with an email address in which you would like to receive the snapshot. Please see the “Settings explanation” below if you would like to send the snapshot over an email.

• attach camera pose

The workspace snapshot lets you record a snapshot for a certain camera pose/orientation. By setting this toggle to true, you can program/train a camera pose/orientation. The head moves to this pose/orientation prior to recording the snapshot. If you untoggle this feature, the snapshot will be recorded for the current pose of the head and the head will not move before a picture is taken.

• head pose / arm pose

Dropdown menu - choose an arm/head pose used by a different node. If you update the head/arm pose from the referenced node, it will automatically update.

• lock to (only for the head camera)

If a head pose was chosen user should define what should be it reference (Please note: when switching to a new reference head pose should be updated).

• Base: The head pose reference will be the base, which means the head will maintain its objective position in the space.
• Arm-J0: The head pose reference will be J0, which means the head will rotate along with J0 and will keep the same difference from J0 angle.
• Active Endpoint: The head will turn to the active endpoint regardless of its saved pose.
• move type (only for arm camera)

Choose Joint or Linear move.

• Joint: the robot control system plans a motion trajectory by interpolating all of the joint angles to get from Point A to Point B (for example) and completes those motions most efficiently as possible. Joint moves are best used for long trajectories.
• Linear: Use Linear instead of Joint to move the tool center point in a straight line.
• motion preset (only for arm camera)

Choose between Slow, Medium, Fast, Express, and Advanced. If Advance is chosen, the three parameters below can be adjusted independently.

• comments

User editable - add comments about this node.

• Settings explanation for sending snapshot over email

Test Window

• ARM CAM / HEAD CAM

The selected camera used for this node is highlighted

• GO TO (only after pose is set)

Move the head / arm to saved pose

• CAPTURE

Take a snapshot and saved it in the Snapshot Gallery. If send email is activated it will also send an email.

Snapshot Viewer

The new snapshots can be found in the snapshot gallery in “Workspace Snapshot” section. You can click on any workspace snapshot to enlarge it and watch its details in the snapshot viewer: node ID, node name, created (time) and snapshot name.

Please note: up to 20 workspace snapshots can be saved in the snapshot gallery, if there are more than 20 the oldest will be removed. 

Example

Whenever this node will execute during the task it will take a picture and save it locally in the snapshot gallery.

User can choose a few different options for the behavior of this node:

• Which camera will be used (head/arm camera) to take this picture.
• Moving the camera to a specific place before taking a picture.
• Send this picture over an email, in addition, to save it locally in the snapshot gallery.

 You can follow these steps to create a task that sending an email when an object is not detected by Vision Inspect node:

• Create new task.
• Add a user variable “presence” (type: boolean).
• Add an Inspector using the snapshot editor.
• Add Vision Inspect node.
• Vision Inspect: add to it the Inspector you’ve created.
• Vision Inspect: toggle failure timeout from infinity to 5 sec.

• Add a Set To node as a child of the vision inspect.
• Set To: presence SET TO true.

• Underneath the Vision Inspect add a Do If node.
• Do If: define its condition as “presence == false”

• Add a Workspace Snapshot node as a child of the Do If node.
• Workspace Snapshot: toggle send email.
• Workspace Snapshot: fill your email.

• Add a Set To node under the Do If node
• Set To: presence SET TO false.

• Open Settings menu and fill the respective fields

If you use a Gmail account as was done in this example, you need to configure it to allow less secure apps, see here.

Please make sure to also enable the required functionality by completing the “Captcha Enable” challenge. Without this, less secure connections probably would not work.

The behavior tree should be like this:

This task takes a picture and sends it over an email when the object wasn’t detected by the Vision Inspect node.