Waypoint Type

TCP

The waypoint will be represented by the X, Y, Z values, Euler angles, quaternions or rotation vectors in the tool reference frame.
The tool pose describes the position of the tool reference frame relative to the robot base reference frame. It focuses on the positional relationship between the tool and the working space and describes the position and orientation of the tool, such as robotic claw, and welding torch, when the robot performs a task.

JPs

The waypoint will be represented by the joint positions of the robot.
Joint positions represents the rotation angles of each joint of the robot relative to its initial position or reference position. This description can represent the state of each joint in line with the hardware structure of the robot.

Target object pose

The waypoint will be represented by the X, Y, Z values, Euler angles, quaternions or rotation vectors in the object reference frame. It focuses on describing the position and orientation of the actual target objects that need to be operated or handled when the robot is performing tasks.
Target object pose is the pose of a certain point on the target object relative to the robot reference frame.

Pose tool

Transform pose

Transform the current pose to a new one. It is suitable for fine-tuning.

Rectify pose

Set the coordinate of P1, P2, and P3 according to the instruction, and then rectify the object pose with the three-point method. It is suitable for scenarios where the objects are tilted and their poses cannot be easily determined. For instance, when a cuboid tilts, its pose is hard to determine. Rectify pose can be used here to calculate the pose of the cuboid and therefore the robot can move to the rectified pose.

Edit pose

Enter quaternions or Euler angles directly to adjust the pose. You can also copy and paste the pose.

Edit JPs

Similar to the Edit pose feature. You can copy and paste the JPs in either radians or degrees.

Set waypoint

Read the current pose of the simulated robot and set it as the waypoint.

Move simulated robot

Move the simulated robot to the pose defined in the current waypoint.

Show all JPs

Show all the joint position solutions to the current waypoint.

Teach target object pose

Record the target object pose obtained by jogging the robot.