This page provides a detailed overview about the expressions used in Intera 5.x.

Contents

Concepts


  • Train by Demonstration - Method of training a task in Intera by interacting with the robot to set pick and place locations.
  • End of Arm Tooling (EOAT) -End-of-Arm Tooling (EOAT) are devices that are attached to end of a robotic arm. Also known as End Effectors and Grippers.
  • Intera Studio - A web browser based interface used to create, modify, and monitor tasks.
  • Robot Screen - The robots screen used to interact directly with the robot. Used for viewing and creating task using Train By Demonstration.
  • Robot Screen Menu - The circular menu that appears when the Rethink button is pressed.
  • Navigator - A set of buttons and a knob on the arm and on the back of the robot.
  • Selector Knob - A knob on the Navigator that scrolls by turning it and selects by pressing the knob.
  • Rethink Button - A button on the Navigator with the Rethink Robotics logo.
  • Task - A sequence of nodes that represent Sawyer's behavior.
  • Behavior Editor - A representation of the Task in the Tree View. It looks a family tree or flow chart.
  • Pose - A specific position of the arm including the position of each joint.

 

Behavior Trees


  • Nodes - The basic building blocks from which Behavior Trees are composed
  • Primitive Nodes - Primitive node types do not have children, and are typically used to perform actions such as moving the arm, waiting for a signal, or setting a value.
  • Composite Nodes - Composite node types have 0 or more children, and are typically used to control the logical flow of execution of the tree. In general, primitive nodes affect the state of the world, whereas composite nodes determine what’s appropriate to do when and in what order.
  • Parent - A node is considered a Parent to all of the nodes running under it.
  • Child - Any node that is running 'under' another node.
  • Node Run States
    • Running - Refers to a node that hasn’t completed its function yet - still "running"
    • Success - Refers to a node that has finished running all of its functions.
    • Failure - Refers to a node that is finished running, but failed at least one function associated with that node. For example, instances of Condition Nodes will return failure when the condition associated with the instance of a Condition Node does not evaluate to true.
    • Error - Refers to a node that is finished running because an error occurred. 
  • Increment - increments the count every time this node is performed 

Variables


  • == - Is equal to
  • != - Is not equal to
  • < - Is less than
  • <= - Is less than or equal to
  • > - Is greater than
  • >= - Is greater than or equal to 

Data Type


  • Integer - Unit-less whole numbers: -1,0,1,2…
  • Float - Unit-less number with a decimal point.
  • Boolean - Unit-less bit which can be only one two values: True (1) or False (0).
  • String - Unit-less group of one or more characters including numbers, letters, and/or symbols.
  • Length - Units include millimeters, meters, or inches.
  • Mass - Units include grams, kilograms, or pounds.
  • Time - Units include seconds or milliseconds.
  • Linear Force - Force in a straight line. Units include newtons or pounds.
  • Torque - Force times its distance to the axis of rotation. Units in newton meters or pound feet.