This has been a real struggle to figure out better ways to teach the robot. This attempt uses Behavior Trees.
open helloWorld.RO
in LimbSolver add a BehaviorTreeRunner > Repeat > Sequence
in Sequence add several LimbMoveToTarget. They should automatically find the grandparent LimbSolver.
in each LimbMoveToTarget assign a target pose.
in Repeat choose the number of repetitions
in LimbSolver choose the solve speed
in BehaviorTreeRunner click "Stopped" to start the action.
While this is running you could have the EditorPanel recording positions. Now your FK only robot has enough poses to simulate moving in nice straight lines and you didn't have to learn any gcode at all.
This has been a real struggle to figure out better ways to teach the robot. This attempt uses Behavior Trees.
LimbSolveradd aBehaviorTreeRunner > Repeat > SequenceSequenceadd severalLimbMoveToTarget. They should automatically find the grandparent LimbSolver.LimbMoveToTargetassign a target pose.Repeatchoose the number of repetitionsLimbSolverchoose the solve speedBehaviorTreeRunnerclick "Stopped" to start the action.While this is running you could have the EditorPanel recording positions. Now your FK only robot has enough poses to simulate moving in nice straight lines and you didn't have to learn any gcode at all.