> ## Documentation Index
> Fetch the complete documentation index at: https://docs.cyberwave.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Inspect areas with Move Twin

> Turn an area into a bounded reach, patrol, or sensor-aware inspection route.

Use the existing **Move Twin** node when a robot should reach, patrol, or inspect
an area. Cyberwave derives the waypoints for the selected purpose, so you do not
need to create a separate area-mission node or manually draw a coverage route.

The same node works with drones, quadrupeds, and wheeled robots. Its original
**Follow waypoints** purpose remains the default for existing workflows.

## Choose a purpose

| Purpose              | Result                                       | Sensor required |
| -------------------- | -------------------------------------------- | --------------- |
| **Follow waypoints** | Follow an authored ordered route             | No              |
| **Reach area**       | Navigate to the area's target point          | No              |
| **Patrol perimeter** | Follow the area's boundary                   | No              |
| **Inspect area**     | Derive a bounded sensor-aware coverage route | Yes             |

## Start from a template

From **Workflows**, create a workflow and choose a public template. The catalog
includes waypoint, reach-area, and inspect-area examples. You can also start
with a blank workflow and add **Move Twin** from the node library.

Area templates start in **Simulation**, so moving to physical hardware remains
an explicit decision.

## Select the area and robot

Choose an existing area from the environment, or connect an `area` output from
an upstream controller or model node. A connected area is used for that run and
does not silently create a permanent environment object.

For **Reach area** and **Patrol perimeter**, select a locomotion-capable twin.
For **Inspect area**, also choose an imaging sensor available on that twin or on
a docked component.

If the selected twin cannot perform the requested purpose, the editor explains
which capability or calibration is missing instead of presenting the workflow
as ready.

## Mark no-go areas

Areas and environment objects can carry semantic properties. Use the
**Semantics** section in the environment inspector to mark an object as no-go or
restricted. You can optionally scope the rule to a particular robot or asset.

Structured access tags affect route planning. A free-text semantic description
provides context to assistants, but does not weaken or replace a no-go rule.

## Configure inspection coverage

For **Inspect area**, select the sensor and set an inspection distance. Cyberwave
uses the sensor's declared field of view and range to derive coverage spacing.
The preview shows the route, inspection viewpoints, sensor field of view, and
covered cells. You can hide sensor overlays from the environment viewer without
changing the route.

A fixed forward camera usually requires the robot to advance through a deep
area. A downward-facing aerial camera can cover the same area from above. A
gimballed sensor is accepted only when the deployed runtime can command it and
confirm its measured orientation before capture.

## Configure flight transitions

For an aerial twin, **Flight transitions** is explicit:

| Setting                              | Behavior                                      |
| ------------------------------------ | --------------------------------------------- |
| **No transition · already airborne** | Navigate without changing flight phase        |
| **Take off at start**                | Add a takeoff or climb phase before the route |
| **Land at end**                      | Land after the route                          |
| **Take off, then land**              | Apply both transitions                        |

The default never infers takeoff or landing from altitude or inspection intent.
Simulation also requires an explicit transition when the aircraft starts on a
support surface. Live workflows require fresh flight-state telemetry and do not
silently arm an aircraft.

## Simulation and Live

Use **Simulation** to review the generated route and visual coverage before
commissioning. Simulation does not turn an incomplete configuration into a live
approval.

Before switching to **Live**, confirm that the selected robot advertises the
required navigation and inspection actions, the sensor geometry is calibrated,
and the environment contains the relevant obstacles and access rules. Dynamic
obstacle avoidance, localization, geofencing, emergency stop, and battery limits
remain responsibilities of the deployed runtime.

Manipulator area inspection is shown as a feasibility requirement until every
sensor pose can be checked for reachability, collision, orientation, and capture.
Ordinary authored manipulator waypoints remain available for validated arm motion.

## Outputs

Move Twin reports the navigation action, selected twin and area, mission purpose,
derived waypoint count, coverage summary, and whether per-waypoint capture was
requested. Downstream nodes resume after navigation completes and any configured
dwell time has elapsed.