Planar Move

Warning

Planar move is only available for Pepper.

What is a Planar Move

A Planar move is a file describing movements of the robot in a plane space.

Planar move files have a PMT extension.

A move is constituted of trajectories, and each trajectory is made of several paths, linking two poses.

When a robot executes a planar move, it does it trajectory per trajectory, marking a stop between trajectories. In contrary, within a trajectory, paths are chained continuously, hence they require to be continuous.

Choregraphe integrates everything needed for you to be able to:

• create a planar move.
• edit a move using the Planar Move Editor.
• integrate a move inside a behavior.

Creating a Planar Move

Step	Action
	Choose File > Add new content > Planar move.... Note: you can also click the Add content button in the Project files panel, and choose Create planar move.
	Type a file Name. Warning You won’t be able to change it later, so choose it well. Use only alphanumeric characters: no space, no special characters.
	Click the Add button. Your planar move is created. The file <file_name>.pmt is created and is opened automatically for edition.

Planar Move Editor

Part	Name	Description
A	Edition zone	Displays the selected Trajectory(ies). Allows you to manipulate the poses and the paths. End pose is the red one. Drag it to move it, Scroll the mouse wheel to change its orientation. Start pose is the green one. It cannot be manipulated.
B	Properties	Allows you to set the properties of the Planar move. Offset is used to delay the trajectories. Framerate and Tick every modify only the display of the trajectories.
C	New path button	Allows you to add intermediate points on the current Trajectory. Once having clicked, move the End pose in order to extend the trajectory starting from this intermediate point. It produces arcs of circles to ensure continuous moves.
D	Trajectory orientation	Allows you to change the edition mode so that the orientation of the poses are computed automatically or not, in function of the direction of their leading path.
E	Keyframes	Allows you to fine-tune the time taken for a trajectory to be executed.
F	Preview buttons	Click the Play button to preview the trajectory.
G	End point	Allows you to fine-tune the last pose of your trajectory.
H	Trajectories	Allows you to add and select a Trajectory. All trajectories compounding your planar move are displayed here, each behind an index button. Click the New trajectory button to add a trajectory to the current Planar move. Click one index button, to select a trajectory and show it in the edition zone. Shift-Click or Ctrl+A to select several trajectories, their concatenation is then displayed in the edition zone.

Using Planar Moves in Behaviors

Open a Behavior, and enter the diagram you want your planar move to be executed from. Drag the *.pmt file from the project content and drop it in the diagram editor: it will create a Move Along box referring to your planar move.

Note

you can also find the Move Along box in the Movement > Navigation box library.

You can re-use this box everywhere in your project with no additional overhead.

The Move Along box is linked to the Planar Move file: editing the Planar Move file modifies the box content.