022108c5b2d5d0-247e-4630-b0da-4ef737e0f356Shaded1100;150;0;0100;0;150;0639157427676815769false68_tool_on_robot.ghx010101002Robert McNeel & Associates00000000-0000-0000-0000-000000000000Grasshopper8.17.25066.7001Egret, Version=0.99.9.0, Culture=neutral, PublicKeyToken=null0.99.9.0Mike Tuttle, MarshRabbit Robotics3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00Egret0.99.91559e0b89a-e487-49f8-bab8-b5bab16be14cPanelA panel for custom notes and text values93f5eb0f-08bd-4fbd-be1f-d90299e7888ePanelfalse0068 - Tool On Robot Attach a tool to the Robot so it travels canvas-wide: Gripper Tool → Robot.Tool → Stage + Collision. HOW TO USE: The gripper's Tool output feeds the Robot picker's Tool input; the Robot then carries it into BOTH Stage (drawn on J6, TCP at the jaw line) AND Collision (clashes vs arm/obstacles) with NO Stage.Tool wire. Toggle Real Mesh for the real UFACTORY CAD. Drop one Robot-with-tool and every downstream component finds it.150-160440170000150-160255;205;225;255truetruetruefalsefalsetrue57da07bd-ecab-415d-9d86-af36d7073abcNumber SliderNumeric slider for single values22cd30e2-cfe7-4782-ab64-ea6df3eb9131Number Sliderfalse08018016020311180-1800057da07bd-ecab-415d-9d86-af36d7073abcNumber SliderNumeric slider for single values8048de19-f0e0-4c32-a4b5-192605971ecaNumber Sliderfalse08021016020311180-18002557da07bd-ecab-415d-9d86-af36d7073abcNumber SliderNumeric slider for single valuesff9578fa-a9b8-4ee5-9834-d89a39209e9bNumber Sliderfalse08024016020311180-1800-2557da07bd-ecab-415d-9d86-af36d7073abcNumber SliderNumeric slider for single values256e1e2d-30fb-40d3-a438-749df94ff16cNumber Sliderfalse08027016020311180-1800057da07bd-ecab-415d-9d86-af36d7073abcNumber SliderNumeric slider for single valuesaf5f8353-2d60-445a-9fe4-a8861ac7db9eNumber Sliderfalse08030016020311180-18005057da07bd-ecab-415d-9d86-af36d7073abcNumber SliderNumeric slider for single valuesaec7a4d1-860a-435a-8549-10fcfb532544Number Sliderfalse08033016020311180-1800012af9e10-3b04-4c8d-9a18-771c2a31b0013f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00PoseThe simplest target: type or slide the joint angles (in degrees) to pose the arm directly, no inverse kinematics. Uses J1 through however many joints the robot has: xArm 5 uses J1, J5, Lite 6 / xArm 6 / UF 850 use J1, J6, xArm 7 uses J1, J7. Extra joints are ignored (with a warning). The component face shows the active range.ac7e8690-77cb-473b-9b17-6e09b2b52793PosePose285.0148.0110204340.0250.0Joint 1 angle in degrees.a4ae241d-a289-44f0-9d09-856d00d278f6J1J1true22cd30e2-cfe7-4782-ab64-ea6df3eb91311287.0150.02020297.0160.0Joint 2 angle in degrees.3f17e472-5ca1-4689-989b-244bd08a9f6aJ2J2true8048de19-f0e0-4c32-a4b5-192605971eca1287.0170.02020297.0180.0Joint 3 angle in degrees.981e0879-2c1a-408f-a16e-67a92335d903J3J3trueff9578fa-a9b8-4ee5-9834-d89a39209e9b1287.0190.02020297.0200.0Joint 4 angle in degrees.5696291b-259a-4972-a39a-a0e41d04b5adJ4J4true256e1e2d-30fb-40d3-a438-749df94ff16c1287.0210.02020297.0220.0Joint 5 angle in degrees.300094bb-472a-4b06-a762-6943f7c24997J5J5trueaf5f8353-2d60-445a-9fe4-a8861ac7db9e1287.0230.02020297.0240.0Joint 6 angle in degrees. Ignored on xArm 5 (5 joints).4d0f43dc-8d14-495f-a30b-b83eeb85208fJ6J6trueaec7a4d1-860a-435a-8549-10fcfb5325441287.0250.02020297.0260.0Joint 7 angle in degrees. Used only on xArm 7 (7 joints); ignored otherwise.3c8ee7a2-cd08-4a28-86ad-30e4190db6fcJ7J7true0287.0270.02020297.0280.0RIGHT-CLICK the component to pick the motion type (PTP or LIN), shown on its face. (Advanced: wire the text, or 0=PTP, 1=LIN; wired overrides.)5d93399b-4fcc-473d-83cb-3d03a3d66e19MotionMtrue0287.0290.02020297.0300.0Speed percent (1-100).fa0ee1e9-6a8b-4f65-9d22-42f0de168a7fSpeedStrue0287.0310.02020297.0320.0Optional, defaults to Lite 6. Wire a Robot component (UFactory > Utilities) to use another model.3a082198-1571-48c5-bf86-e54938aaad35RobotRtrue0287.0330.02020297.0340.0robot target.e33d2c94-bca5-451e-90ef-7ec3ea94992bTargetTfalse0353.0150.04020373.0160.0Validation message.bcd14485-8c18-47d3-8657-7fc820e6f41bStatusSfalse0353.0170.04020373.0180.059e0b89a-e487-49f8-bab8-b5bab16be14cPanelA panel for custom notes and text valuesfd247574-9f53-41a0-992a-6ec288acae86Panelfalse00Gripper304601606000030460255;255;250;90truetruetruefalsefalsetrue12af9e10-3b04-4c8d-9a18-771c2a31b00d3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00ToolDefine a tool and stamp its TCP onto your targets. Type=Custom: type X Y Z (mm) + Roll Pitch Yaw (deg) from UFACTORY Studio's tool-coordinate field (for a straight tool just set Z). Type=Gripper / Vacuum: built-in presets with auto mesh, TCP and payload. Set Weight (kg) for set_tcp_load. Absorbs the old Gripper Tool / Vacuum Tool presets.89673871-7721-4a61-b8e4-a155b81a8899ToolTool285.0398.0110204340.0500.0List of RobotTarget.34cf3c72-35f7-41f8-ab6f-58e836167c4bTargetsTtrue0287.0400.02020297.0410.0TCP offset X in mm (flange frame).f86078f6-2897-4cd0-a3bb-e828d6cb0803XXtrue0287.0420.02020297.0430.0TCP offset Y in mm (flange frame).36b0f8ef-35b4-4923-9539-009db88596a1YYtrue0287.0440.02020297.0450.0TCP offset Z in mm, distance out along the flange axis. For a straight tool this is the only one you need.ffcbdea4-d8c0-41c6-9179-55601d06eb02ZZtrue0287.0460.02020297.0470.0Roll about X in degrees (UFACTORY 'A'). 0 for a straight tool.91f5d5df-d56f-42bb-8657-57a6a1a58566RollAtrue0287.0480.02020297.0490.0Pitch about Y in degrees (UFACTORY 'B').b855f1cc-3412-471b-9ea5-199f4ff026d7PitchBtrue0287.0500.02020297.0510.0Yaw about Z in degrees (UFACTORY 'C').8a8940f7-8119-4cdc-acf8-5d4bfa9389e3YawCtrue0287.0520.02020297.0530.0Optional mesh(es) representing the tool, in the flange frame (mount at origin, tool along +Z). Passed through, wire into Stage's Tool input to see it on J6. (Custom type only.)e0897a9c-6c22-45e5-9552-f6a28183a6f6Tool MeshesMtrue0287.0540.02020297.0550.0RIGHT-CLICK the component to pick the tool type (Custom / Gripper / Vacuum), shown on its face. Custom = define TCP via X/Y/Z/RPY; Gripper/Vacuum = presets (auto mesh + TCP + payload). (Advanced: wire the text, or 0=Custom, 1=Gripper, 2=Vacuum; wired overrides.)474fe371-c829-4ccb-bbff-34f7c4697679TypeTytruefd247574-9f53-41a0-992a-6ec288acae861287.0560.02020297.0570.0Tool payload mass in kg → codegen set_tcp_load. 0 = none (Custom) or the preset's known mass (Gripper 0.277, Vacuum 0.145).841b2c12-6eef-4550-9b6d-0c4f00f56157WeightKgtrue0287.0580.02020297.0590.0Targets stamped with the tool offset.e9dc8663-9af3-4b24-a12d-797eab87300bTargetsTfalse0353.0400.04020373.0410.0Passthrough of input meshes, wire into Transform with flange pose from Sim.4f72d19a-ad94-4b0b-a931-497114e6b23fTool MeshesMfalse0353.0420.04020373.0430.0Summary of what was applied.67012546-214a-44ff-af54-a9515576cc25StatusSfalse0353.0440.04020373.0450.0Bundled tool (geometry + TCP), wire into the Robot picker's Tool input so it travels 4d8b5206-3de8-446d-a7ba-d673e3aa7911ToolTlfalse0353.0460.04020373.0470.012af9e10-3b04-4c8d-9a18-771c2a31b0183f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00RobotPick a UFactory robot model via right-click. For per-model draggable pickers, use Lite 6 / xArm 5/6/7 / UF 850 in this same subcategory.6080c9cb-c3d7-4799-bb4a-41b5b0f1e4e0RobotRobot545.0458.011084600.0500.0Optional end-effector to attach to this robot, from a Gripper / Vacuum / Custom Tool 379ab11c-55dd-4d5d-8bc8-22f0769a9376ToolTltrue4d8b5206-3de8-446d-a7ba-d673e3aa79111547.0460.02020557.0470.0Optional controller collision sensitivity 0 (off), 5 (most sensitive). Travels with the 4794212b-90c0-4d23-b087-743cf0531b9aCollision SensitivityCstrue0547.0480.02020557.0490.0Optional robot ROOT (base) frame in world. Set it to how the arm is actually fixed, d5ce227f-11bd-4b49-a14f-e263cc2400d7RootRttrue0547.0500.02020557.0510.0Optional IK SEED pose: wire a Pose (joint angles) to choose the arm configuration the whole 1630e8c0-38a6-4bfd-94ad-4d968a35ee72SeedSdtrue0547.0520.02020557.0530.0Selected robot model (carrying the attached tool, if any). Wire into the Robot input 85d54529-d9a3-4191-a959-e3581336ca14RobotRfalse0613.0460.04020633.0470.02e78987b-9dfb-42a2-8b76-3923ac8bd91aBoolean ToggleBoolean (true/false) toggle19b9ebc7-3407-4b13-8d2e-c2d030942757Boolean ToggleTogglefalse0true5481491042212af9e10-3b04-4c8d-9a18-771c2a31b0033f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00StageVisualize the robot, scrub the toolpath, see per-joint plots. Double-click for the Stage form. Outputs link meshes, TCP, and a passthrough Targets list.1828fd74-53f2-4806-99f1-b8dbf7fbfd1aStageStage805.0158.0110244860.0280.0List of RobotTargets to visualize. Uses the LAST one.08195b98-3e09-4e2c-aa3b-451688084d9dTargetsTtruee33d2c94-bca5-451e-90ef-7ec3ea94992b1807.0160.02020817.0170.0If true, show all poses overlaid (ghost mode).60ed080d-0e1d-4a8e-8bae-c3aa1b46325bShow AllAlltrue0807.0180.02020817.0190.0Show the lifelike 3D robot instead of the simple stick-figure. Turn on for a realistic preview; leave off for a faster, lighter view. (Advanced: add your own robot meshes via the Egret meshes folder, see the wiki.)e26e86f8-b6da-460a-b3bb-191477bfce2bReal MeshesRealtrue19b9ebc7-3407-4b13-8d2e-c2d0309427571807.0200.02020817.0210.0Optional, defaults to Lite 6. Wire a Robot component (UFactory > Utilities) to use another model.f5564af5-4f20-44d7-add3-feb5d004f1baRobotRtrue85d54529-d9a3-4191-a959-e3581336ca141807.0220.02020817.0230.0Optional 0..1 scrub: wire a Number Slider with 0.0-1.0000000 to drive the arm smoothly through the program. 0 = first move, 1 = last. Interpolates BETWEEN targets (LIN/CIR travel straight in Cartesian space, PTP blends in joint space) so the arm moves continuously instead of snapping pose-to-pose. Overrides the Stage form's slider when wired.984585ed-ca65-4be7-bb76-4896fb1e4af3TimeTmtrue0807.0240.02020817.0250.0Overlay wireframe edges on the real meshes. Off = clean shaded view (joints separated by colour); on = adds edge lines (more technical / busier).6a22afea-492c-4693-89d9-360c3611f318EdgesEtrue0807.0260.02020817.0270.0Optional end-effector mesh(es) in the flange (J6) frame, e.g. from a Gripper Tool / Vacuum Tool component. Drawn attached to J6 at the live pose so you see the actual tool; its working point shows via the TCP Axes output.be54832f-6fa0-45c3-928e-71e9b46f1d6eToolTltrue0807.0280.02020817.0290.0Draw the TCP toolpath as a trail through all PTP/LIN/CIR targets, with the corners rounded by the blend radius, so you can SEE the actual path (incl. blend rounding). Off by default.76923b9c-0ce9-4b6f-b8f0-80265ed784b4TrailTrtrue0807.0300.02020817.0310.0When Trail is on: draw travel-direction arrows on each move. Off by default (busy on dense paths).4c2d3733-a19b-4941-8f06-51e317533c25Trail ArrowsArtrue0807.0320.02020817.0330.0When Trail is on: draw the tool plane (XYZ axes) at each target. Off by default.d1aa72eb-d2e1-4163-afa7-dc17f0d314daTrail FramesFrtrue0807.0340.02020817.0350.0Optional picked-object mesh(es), positioned where the object sits at the pick. While the vacuum is ON (holding) the object is drawn riding the cup, so you can see the carried part. Vanishes on release.699ee4b6-60d3-41f1-8526-e5aa5280d17fPayloadPaytrue0807.0360.02020817.0370.0Force the Payload onto the gripper at the current pose, use in LIVE preview, where there are no gripper ON/OFF commands to detect a grab. Rides the part centered on the TCP. Off = use the program's vacuum/gripper commands to decide when it's held.de84d62a-21fc-4940-af82-d7901ce9c562Hold PayloadHldtrue0807.0380.02020817.0390.0Mesh per link, transformed to the current pose.335966a0-f56f-4a93-8169-c8a4d62d19c4Robot MeshesMfalse0873.0160.04020893.0170.0Tool flange plane at the last pose.6d4037f4-9a49-4ac6-91d6-17ad4b87e94fTCPTCPfalse0873.0180.04020893.0190.0Three colored line segments at the TCP plane (X=50mm red, Y=50mm green, Z=50mm blue) for orientation visualization.9d24c77c-ed30-4d1b-9ed5-b7baf0f35d3cTCP AxesAxfalse0873.0200.04020893.0210.0Reachability / limit status.063da57f-3ec6-4b78-832b-4c40afd628d2StatusSfalse0873.0220.04020893.0230.0Input target list, passed through. Fork into Analysis or other downstream consumers without re-merging from the source.296f1a15-ec76-464c-8c53-77d5d6eb40d6TargetsTfalse0873.0240.04020893.0250.0The single RobotTarget Stage is currently rendering, whichever target the form's slider, the wired Time input, or the default 'last target' resolves to. Wire into Code / G-Code / Analysis to act on the scrubbed pose specifically.38b7f4d5-14a3-49d0-ac8e-7b51fca72c82Current TargetTcfalse0873.0260.04020893.0270.0The TCP toolpath through all PTP/LIN/CIR targets, corners rounded by the blend radius. Empty unless the Trail input is on. Bake it to keep the path geometry.1279a577-d1d0-49cb-ab94-1d35cdee8012TrailTrfalse0873.0280.04020893.0290.012af9e10-3b04-4c8d-9a18-771c2a31b0443f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00CollisionFlag targets where robot links collide with themselves or world meshes.9609da8b-c556-4be3-b4d6-163fcb9ef815CollisionCol805.0498.011084860.0540.0RobotTarget list.4c4d7b7e-a7e6-4684-bf96-33f9019cf808TargetsTtruee33d2c94-bca5-451e-90ef-7ec3ea94992b1807.0500.02020817.0510.0Optional world-frame obstacle meshes (table, fixture, wall, part). A target is flagged f644ecaa-a948-4450-b054-bcf202201b4dObstaclesObstrue0807.0520.02020817.0530.0Obstacle safety gap in mm, flag when the arm comes within this distance of an Obstacle mesh. 75f5018e-5206-4c25-91ed-5130e1cbd7f3ClearanceCltrue0807.0540.02020817.0550.0Optional, defaults to Lite 6. Wire a Robot to use another model.b5a0aba8-2464-4652-9485-df4db25ffb72RobotRtrue0807.0560.02020817.0570.0Per-target collision flag (true = collides).918849fa-b352-4c11-ab4c-f5a84cf3d634CollisionsCfalse0873.0500.04020893.0510.0Per-target message describing which links/obstacles collide.1554c1dd-6351-40cf-b652-0aa8f8b8f8d3DetailsDfalse0873.0520.04020893.0530.0Count of colliding targets.f6fb853c-c65f-4b8d-9f71-b077c68ae6ffTotalNfalse0873.0540.04020893.0550.0Summary.31fb02af-37f3-407e-bbab-c3b7dcab3932StatusSfalse0873.0560.04020893.0570.059e0b89a-e487-49f8-bab8-b5bab16be14cPanelA panel for custom notes and text values19796aa7-1030-4cd7-bead-42e2a1e6bb24Panelfalse031fb02af-37f3-407e-bbab-c3b7dcab393211040530160600001040530255;255;250;90truetruetruefalsefalsetrueiVBORw0KGgoAAAANSUhEUgAAAJYAAABkCAIAAADrOV6nAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsMAAA7DAcdvqGQAAADzSURBVHhe7dFBCQAgAAAx+9c0iH4EMcLJVmFj8IFF1i2cBCnMU5inME9hnsI8hXkK8xTmKcxTmKcwT2GewjyFeQrzFOYpzFOYpzBPYZ7CPIV5CvMU5inMU5inME9hnsI8hXkK8xTmKcxTmKcwT2GewjyFeQrzFOYpzFOYpzBPYZ7CPIV5CvMU5inMU5inME9hnsI8hXkK8xTmKcxTmKcwT2GewjyFeQrzFOYpzFOYpzBPYZ7CPIV5CvMU5inMU5inME9hnsI8hXkK8xTmKcxTmKcwT2GewjyFeQrzFOYpzFOYpzBPYZ7CPIV5CvOeQqJOIWkbNIJf4jYto4QAAAAASUVORK5CYII=