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Clicking on the expression builder button () will  will open a form with tabs: Studio Actionsactions, operators, results, resources.

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You can choose resources in your robot by navigating to the «Resources» tab:

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You can choose results in the «Results» tab:

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You can choose actions in the «Actions» tab:

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For more detailed information on working with the expression builder, please refer to the «Expression builder» the Expression constructor section.