What is a WorkPlan?
WorkPlan is a function that allows you to execute set steps in the order listed from top to bottom at your own discretion.
It is used for tasks that are difficult to automate and require human judgment, such as getting on and off elevators.
Configuring WorkPlan
A WorkPlan is made up of multiple "Steps".
A step consists of "main actions," "auxiliary actions," "pre-settings," and "post-settings," and a command is set for each item.
Steps have a "type" which can be set to either "movement" or "button operation (right arm or left arm)."
If the step is set to "Type: Button Operation", the image from the body unit's depth sensor will be displayed when the step starts.
By clicking within the displayed image, the arm will move and the button will be pressed.
How to Run a WorkPlan
Before operating ugo, please read [⚠Please read before operating ugo]
①Click and expand the "Action Menu" at the bottom right of the ugo operation screen, then click "Launch WorkPlan"
②Click the WorkPlan you want to run from the drop-down list, select it, and click Start.
*If the number of registered WorkPlans is "one", the drop-down list will not be displayed and you will move to ③ below.
③"Step #1" of the selected WorkPlan will begin.
Please refer to the "Step flow ( type: movement ) or ( type: button operation )" below to proceed through the steps.
As steps are executed, the number to the left of each step will change to ✅
④ After all steps are completed, click "Close" to return to the ugo operation interface.
If you call up a WorkPlan in a Flow, clicking "Close" will return you to the rest of the Flow.
Step flow (type: movement)
The steps go as follows:
① When a step starts, the "pre-settings" set for that step are automatically executed.
*If no pre-settings have been made, it will start from ②
② Next, click on the "Main action (black command)" or "Secondary action (white command)" to execute it.
Even if "auxiliary actions" are performed, they will remain in ②
Therefore, it can be executed multiple times before the "main action" is executed.
*Cannot be executed if no auxiliary action is set.
Once you have performed the "Main Action" , proceed to ③
③ When the "main action" is executed , the "post-action setting" set for that step will be executed automatically.
Once the "post configuration" is performed, the step is finished.
If there is a next step, it will automatically move to the next step ①
*If no post-action settings are configured, the system will automatically move to step ① after the main action is performed.
Step flow (type: button operation)
The steps go as follows:
① When you start a step, the image from the depth sensor of the body unit is automatically displayed.
② Click to execute a "button press" or "auxiliary action (white command)"
To execute "button press", move the cursor to the location of the button you want to press in the displayed image,
Click it.
To perform an "auxiliary action," click the "white command" below the displayed image.
Even if you perform "button presses" or "auxiliary actions", you will remain in ②. (※)
Therefore, it can be executed multiple times before the "main action" is executed.
*This cannot be performed if the auxiliary action is not set when creating the WorkPlan.
③Next, click on the "Main action (black command)" to execute it.
Once you have performed the "Main Action", you will proceed to step ④. (※)
* If the main action is not set in WorkPlan creation, it cannot be executed.
* To move to the next step, you must manually click Next Step.
④ After the "main action" is performed, the step ends.
If there is a next step, it will automatically move to the next step ①
Supplementary information (step flow)
Multiple commands can be set for each item.
If there are multiple "pre-settings" and "post-settings", they will be automatically executed consecutively in the order they were set .
If there are multiple "main actions" and "secondary actions," you will be able to select one from the options.