Editor (Project)

Action object

All objects presented in scene are available in the corresponding project as well. They could be used as a spatial anchor for any action points or they could provide actions.

Parameters override

Each action object could have 0..n parameters, such as address of the service, virtual or physical port, type of workpiece to be manipulated etc. Such a parameter is usually set in the scene, but it could be overrided in the project, to achieve higher versatility of the system. Using the gear button in utility menu, the action object settings menu could be opened (see image). In this menu, all available parameters and their actual value could be seen and altered. When some parameter is overrided, the trash button could be used to remove the override and return to the default value.

!!! TODO: image

Block list

Any action object or collision object could be added to the block list, causing that it will not be rendered in the scene and no interaction using the sight will be enabled. It is done by the block list switch in the same menu, where parameters overrides are defined (see above). This is especially useful with for example safety fences around the workplace, which needs to be defined for the robot to avoid them, but the user usually don't want to interact with them. Any object placed on the block list could be selected using the block list button in the selector menu.

!!! TODO: add reference to selector menu

Action points

Action objects servers as a spatial anchors in the scene. They represent important points in the environment, such as position of the object to be picked, position of the hole where a peg should be inserted etc. The action point itself only represent the position and not the rotation. Each action point in fact is a container, which could contain several orientations or robot's joints values. This means that one action point could represents several poses and/or robot arm configurations.

The action point could be defined as global (i.e. has no parent) or it could be added into a hierarchy (action object or another action point could serve as a parent), meaning that any spatial change to the parent will influence corresponding spatial change for all descendants.

Visualization in the scene

The action points are visualized as a spheres at the defined position. The size of the action point could be altered using a main settings menu (!!! TODO: add reference). Hierarchy of the action points is visualized using an arrow from the action point to its parent.

!!! TODO: add image

Adding to the scene

An action point could be added to the scene using the add category of the left menu. When the user has selected any object which could serves as a parent of an action point (i.e. any action object or another action point), the new action point is added with the selected object as its parent. When no object is selected, the new action point is added with no parent (i.e. is global).

Manually

Using the action point button in the add category of the left menu, the action point is added manually to the scene, meaning that its position is set 0.5 meters from the tablet in the direction of sight.

Using robot

Using the action point with robot button in the add category of the left menu, the action point is added at the position of the currently selected end-effector. Default orientation is added to the newly created action point, representing the current pose of the end-effector. Joint configuration of the selected robot's arm is added as well.

Orientations

Robot joints

Positioning of AP

Manual

Aiming using robot

Hierarchy

Actions

Visualization in the scene

Adding to the scene

Action parameters

Execution of action

Connections

Visualization in the scene

Adding to the scene

Program

Package creation

Temporary package run

Debug mode

Break points