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Intera 5.3
Getting Started with Intera 5
Intera Studio refers to the Intera software accessed through a Google Chrome browser, which
features a Behavior Editor of the task and a simulated Sawyer robot. Optionally Intera Studio may
be connected to, and communicate with, an actual Sawyer robot.
Most of the programming of the logic of Sawyer's tasks will take place on Intera Studio.
A node is the basic building block of the behavior editor. Each node performs a specific function
depending on the type of node it is, and the value of the node’s properties. Examples of node
functions: moving the robot; interacting with signals; using vision; waiting for instructions from an
external machine.
The behavior editor is a collection of nodes, organized in a tree-like structure (although displayed on
its side in the software) that collectively accomplish a task. The nodes that constitute the tree and
the way in which the tree is structured determine what is to be done when. The behavior editor
grows and branches out from the left side of the screen and is made up of parent and child nodes.
A Task is the complete description of what the robot uses to accomplish the job. A task is the
behavior editor combined with all the resources that the nodes in the behavior editor rely on to
accomplish the desired job. Examples of resources: the kind of end effectors attached, frames,
landmarks, location of points in space, configured devices.
When a branch of the Behavior Tree is active, it is said to be running. It will return a status that
indicates whether the branch ended in success, failure, or error. (Other statuses can be imposed on
a branch, for example: paused, stopped, terminated, disabled.)