Manipulating Targets

You can move, reorient and project any type of target (tag, tag group, motion activity, robot task).

This task shows you how to:

Moving Targets

You can move selected targets based on position and orientation.

  1. From the Setup section of the action bar, click Manipulate Targets .
    The Manipulate Targets dialog box appears.

  2. Select Move.
  3. In the Anchor section, you can specify the frame upon which the manipulation is applied.

    • 3D Robot Handle Frame moves with respect to 3D Robot Handle Frame.
    • Target's Local Frame moves with respect to the Target's Local Frame.

  4. In the 3D Robot Handle section, select Show Coordinates to see the current XYZ/YPR values of the 3D compass, through which targets are manipulated.

    Coordinates can be modified by manipulating the target(s) in the work area, or by directly changing the values in the coordinate box.

    1. Select the Position and Orientation to create a unique reference coordinate system whose values can be seen in the coordinate box.

      These lists each provide the following options:

      • World: Display XYZ/RPY with regard to the World.
      • Resource: Display XYZ/RPY with regard to a selected resource (robot, aux device etc.).
      • Local Axis: Display XYZ/RPY with regard to the current local axis system.
      • User-selected: Display XYZ/RPY with regard to a selected axis system.
      • Tag: Display XYZ/RPY with regard to the a selected tag.

    2. From the Referential list, select the referential to see coordinate values with respect to the type selected.

      • World: Display XYZ/RPY with regard to the World.
      • Context: Display XYZ/RPY with regard to the PPR Context.
      • Local Axis: Display XYZ/RPY with regard to the current local axis system.
      • User-selected: Display XYZ/RPY with regard to a user selected axis system.

  5. In the Temporary Lock for Manipulation section, select Lock Axis to temporarily lock the position and orientation in selected X, Y, or Z directions and manipulate the targets.

    • Position locks the position along X/Y/Z axis during movement.
    • Orientation locks the orientation along X/Y/Z axis during movement.

  6. Click Apply to immediately apply the manipulation that was last performed on the selected target(s). The changes are saved permanently.

Reorienting Targets

You can interpolate or align targets.

  1. Select Reorient.
    The Manipulate Targets dialog box is updated to provide the following options.

  2. Select Interpolate to interpolate the position and orientation from the first to last target in the list, or Align to align the target position and orientation.
  3. In the Lock Axis section, select one or more axes that are to be locked during manipulation.

    • X locks the rotation of X axis (X axis remains fixed to its current direction, and only Y and Z axes can rotate).
    • Y locks the rotation of Y axis (Y axis remains fixed to its current direction, and only X and Z axes can rotate).
    • Z locks the rotation of the Z axis (Z axis remains fixed to its current direction, and only X and Y axes can rotate).

  4. Click Apply or OK to save the modifications you have made.

Projecting Targets

You can project a set of targets onto a selected product or geometry.

  1. Select Reorient.
    The Manipulate Targets dialog box is updated to provide the following options.

  2. In the Projection Geometry section, click and select the projection geometry in the work area.

    Click Clear if you need to unset the selected geometry/surface.

  3. In the Temporary Lock for Manipulation section, select Lock Axis to temporarily lock the position and orientation in selected X, Y, or Z directions and project the targets.

    • Position locks the position along X/Y/Z axis during projection.
    • Orientation locks the orientation along X/Y/Z axis during projection.

  4. In the Projection Mode section, you can set the projection direction of the selected targets.
    1. Minimum Distance is selected by default. This is the direction, from the target location to the surface, which comes out to be the least distance of the possible directions.
    2. If Minimum Distance is not used, select X Axis, Y Axis, or Z Axis to indicate the direction projection to the geometry/surface.
  5. In the Tag Orientation Mode section, you can set the orientation of the selected targets after the projection has been made on the geometry/surface.
    1. X normal to Surface is selected by default. This means that the X axis of the targets will be upward normal to the surface after projection.
    2. Select User reversed normal to reverse the normal direction by 180 degrees. This results in a downward normal to the geometry/surface.
  6. Click OK to close the Manipulate Targets dialog box.