0 2 2 1 0 8 edbb9756-84fa-4dee-a9c1-4430e55bd3a5 Shaded 1 100;150;0;0 100;0;150;0 639161882662736883 false Pick_and_Place.ghx 0 840 -256 1.62833273 0 0 8 Robert McNeel & Associates 00000000-0000-0000-0000-000000000000 Grasshopper 8.17.25066.7001 Robert McNeel & Associates 00000000-0000-0000-0000-000000000000 Grasshopper 8.17.25066.7001 Robert McNeel & Associates 00000000-0000-0000-0000-000000000000 Grasshopper 8.17.25066.7001 Robert McNeel & Associates 00000000-0000-0000-0000-000000000000 Grasshopper 8.17.25066.7001 Robert McNeel & Associates 00000000-0000-0000-0000-000000000000 Grasshopper 8.17.25066.7001 Robert McNeel & Associates 00000000-0000-0000-0000-000000000000 Grasshopper 8.17.25066.7001 Pufferfish, Version=3.0.0.0, Culture=neutral, PublicKeyToken=null 3.0.0.0 Michael Pryor 1c9de8a1-315f-4c56-af06-8f69fee80a7a Pufferfish 3.0.0.0 Egret, Version=0.99.14.0, Culture=neutral, PublicKeyToken=null 0.99.14.0 Mike Tuttle, MarshRabbit Robotics 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 Egret 0.99.14 84 b83c36e8-c587-4607-a4b3-d9fdad45d185 1c9de8a1-315f-4c56-af06-8f69fee80a7a Flip Plane Flip a plane by specified axes with the option of using a guide plane. da1633c2-75be-4606-9050-60f3ebbc3331 Flip Plane FlipPln 737 445 67 104 770 497 Plane to flip e1545ba8-2b76-45f5-98d8-c2899f5df97f Plane Pl false 390ddd80-8bb2-439f-90d2-f7276b9b6be6 1 739 447 16 20 748.5 457 Optional guide plane to determine if the plane should flip, based on the guide plane axis angle to the axis of plane to flip 38746101-6fe6-45ff-8324-58c7702ab18b Guide G true 0 739 467 16 20 748.5 477 Flip the planes X axis 6bd33ec2-d944-49f4-ad32-b5e89a2581cb Flip X X false 0 739 487 16 20 748.5 497 1 1 {0} false Flip the planes Y axis 581264b3-ef9f-4f44-b834-73b54ab2b21f Flip Y Y false 0 739 507 16 20 748.5 517 1 1 {0} false Flip the planes Z axis e547504d-3625-47e5-bf85-83578692f712 Flip Z Z false 0 739 527 16 20 748.5 537 1 1 {0} true Resulting flipped plane 323954c8-719d-4f23-9a6c-56d3b13e29ad Flipped F false 0 785 447 17 50 793.5 472 True if plane was flipped, False if plane was not flipped ce71a12c-d999-46db-8c66-5a577f5e95e0 Result Boolean R false 0 785 497 17 50 793.5 522 57da07bd-ecab-415d-9d86-af36d7073abc Number Slider Numeric slider for single values 779febc8-7994-4681-bce9-43328a27c74a Number Slider false 0 4395 723 160 20 4395.893 723.8165 7 1 0 1 0 0 0.2145925 12af9e10-3b04-4c8d-9a18-771c2a31b002 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 Code Turn your list of targets into a ready-to-run Python program for the robot (xArm Python SDK). Copy the output to a .py file and run it on a PC connected to the controller. Wire into a Panel to read it. 04740fce-c848-4517-9756-9424d8dccba3 Code Code 4979 769 71 84 5013 811 1 List of RobotTarget. af25b712-5909-439f-b2d7-b9df0eeabfad Targets T false 14500e67-6356-4bf9-9165-5abe4ae7012f 1 4981 771 17 20 4991 781 Robot IP baked into the generated script's XArmAPI(...) connect line (Lite 6 default 192.168.1.159). 68b972b7-6d48-467f-86fc-a5b484865c6f IP IP false 0 4981 791 17 20 4991 801 1 1 {0} false 192.168.1.159 Wait for each motion to complete before issuing the next (recommended). 00f26b31-f1fb-4d07-a34f-fc57f1e2a662 Wait W false 0 4981 811 17 20 4991 821 1 1 {0} true Optional UFactory robot model. Defaults to Lite 6. Used only for Forward-kinematics fallback when LIN targets have no TargetPlane. 52a3ce25-dbda-4562-8721-6a808c2250b7 Robot R true 0 4981 831 17 20 4991 841 Python script. Save as .py and run on a host that can reach the robot. 6e9f5692-dcfc-4668-94d6-73ff6470d96b Script S false 0 5028 771 20 40 5038 791 Number of motion commands generated. 619db91d-e666-4e2f-bf4b-8746022826b6 Moves M false 0 5028 811 20 40 5038 831 59e0b89a-e487-49f8-bab8-b5bab16be14c Panel A panel for custom notes and text values 07d25624-68d1-4fd9-90a8-3e209f5d38b8 Panel Python Code false 0.071950066834688187 6e9f5692-dcfc-4668-94d6-73ff6470d96b 1 Double click to edit panel content… 5157 637 900 280 0 0 0 5157.963 637.3353 255;255;250;90 true true true false false true 59e0b89a-e487-49f8-bab8-b5bab16be14c Panel A panel for custom notes and text values 351864b6-c8d4-46f7-8154-f87449a97355 Panel false 0 3824757e-da35-44bb-8872-0cc948679a76 1 Double click to edit panel content… 1629 559 522 185 0 0 0 1629.021 559.2076 255;255;250;90 true true true false false true 3cadddef-1e2b-4c09-9390-0e8f78f7609f Merge Merge a bunch of data streams true 0d59eee6-3e0f-4652-b031-a2f6a37a93aa Merge Merge 3721 589 108 124 3795 651 6 8ec86459-bf01-4409-baee-174d0d2b13d0 8ec86459-bf01-4409-baee-174d0d2b13d0 8ec86459-bf01-4409-baee-174d0d2b13d0 8ec86459-bf01-4409-baee-174d0d2b13d0 8ec86459-bf01-4409-baee-174d0d2b13d0 8ec86459-bf01-4409-baee-174d0d2b13d0 1 8ec86459-bf01-4409-baee-174d0d2b13d0 2 Data stream 1 24de671a-e2cf-4456-a692-04812940cb03 2 false Data 1 D1 true true 36c11ddf-0770-4fa8-a379-83197ccb5527 1 3723 591 57 20 3771 601 2 Data stream 2 f566d861-a74f-4211-a024-8995e7acb2ce false Data 2 D2 true true 3824757e-da35-44bb-8872-0cc948679a76 1 3723 611 57 20 3771 621 2 Data stream 3 2f5dbfaf-1e36-4de9-a198-791d0c8c8ae2 2 false Data 3 D3 true true 33cb7d85-f225-4882-a832-a1bed46683dc 1 3723 631 57 20 3771 641 2 Data stream 4 9b97f289-4d1f-4a42-849a-fcdb998cd2a2 2 false Data 4 D4 true true d700519c-4443-45a5-9ba1-225098b400ad 1 3723 651 57 20 3771 661 2 Data stream 5 c1db9d7b-643f-4b57-b5da-7d130836ec15 2 false Data 5 D5 true true 4bd416bc-2361-4186-83f7-da8df93d24d3 1 3723 671 57 20 3771 681 2 Data stream 6 837d28bd-4264-4a21-b723-6ead54862256 false Data 6 D6 true 0 3723 691 57 20 3771 701 2 Result of merge 1861cafc-1235-456f-8ccb-948c020d2ba2 Result R false 0 3810 591 17 120 3818.5 651 b83c36e8-c587-4607-a4b3-d9fdad45d185 1c9de8a1-315f-4c56-af06-8f69fee80a7a Flip Plane Flip a plane by specified axes with the option of using a guide plane. 8515b308-8850-4d9b-bfe6-83e29108f32b Flip Plane FlipPln 2909 491 67 104 2942 543 Plane to flip 4c24422e-0ab8-4b98-948f-cd2fe76d253b Plane Pl false 38a6dd0e-2f79-43b0-8838-dc1e8fef6e98 1 2911 493 16 20 2920.5 503 Optional guide plane to determine if the plane should flip, based on the guide plane axis angle to the axis of plane to flip 8fac3812-2aed-4989-b3c1-196e536a3a76 Guide G true 0 2911 513 16 20 2920.5 523 Flip the planes X axis dd308fcb-a3ad-4733-8690-a1078805fb32 Flip X X false 0 2911 533 16 20 2920.5 543 1 1 {0} false Flip the planes Y axis d26ebae8-73cd-4ae5-afe8-6166cb4d6062 Flip Y Y false 0 2911 553 16 20 2920.5 563 1 1 {0} false Flip the planes Z axis 3b4b7f97-2b14-4310-a59e-c5392007d370 Flip Z Z false 0 2911 573 16 20 2920.5 583 1 1 {0} true Resulting flipped plane 97a11714-02a9-4516-81c4-ec24796af0e2 Flipped F false 0 2957 493 17 50 2965.5 518 True if plane was flipped, False if plane was not flipped fb77c9e2-b52d-4683-81ca-6d442bce779a Result Boolean R false 0 2957 543 17 50 2965.5 568 17b7152b-d30d-4d50-b9ef-c9fe25576fc2 XY Plane World XY plane. 814eca24-90ac-4cba-84f0-2c8317f2f9ad XY Plane XY 2815 519 65 31 2847 535 Origin of plane 45927dd6-226a-45fc-b982-d4116379c977 Origin O false 47f8dfb9-d805-4951-aee9-8ecc0d509b20 1 2817 521 15 27 2826 534.5 1 1 {0} 0 0 0 World XY plane b238c254-9e67-4685-9915-d845e4739127 Plane P false 0 2862 521 16 27 2870 534.5 1817fd29-20ae-4503-b542-f0fb651e67d7 List Length Measure the length of a list. cbba38d9-643d-4c45-bfc7-1a26b1cb8b7f List Length Lng 2277 632 61 38 2306 651 1 Base list 9fb02383-8a29-4530-b0ed-878e68cc85d8 List L false 26a54cde-78d0-4f32-b077-561666fd9c9f 1 2279 634 12 34 2286.5 651 Number of items in L ae13c93e-0072-4570-ac47-2169bcd5b53e Length L false 0 2321 634 15 34 2328.5 651 dd8134c0-109b-4012-92be-51d843edfff7 Duplicate Data Duplicate data a predefined number of times. ef4657b0-de1d-4f4b-a2b0-ffd4769c0ee8 Duplicate Data Dup 3406 544 67 64 3438 576 1 Data to duplicate 5f67eb4b-2aee-40c5-9fe2-194124a2e546 Data D false 5c836d58-5eb6-4b14-8c6b-b1e3a67e0364 1 3408 546 15 20 3417 556 Number of duplicates 55fee745-8a9a-4a8b-9160-303ee0e48619 Number N false ae13c93e-0072-4570-ac47-2169bcd5b53e 1 3408 566 15 20 3417 576 1 1 {0} 2 Retain list order b42bb9ea-6c5f-48be-bec7-ddebd27a95de Order O false 0 3408 586 15 20 3417 596 1 1 {0} true 1 Duplicated data 33cb7d85-f225-4882-a832-a1bed46683dc Data D false 0 3453 546 18 60 3462 576 99bee19d-588c-41a0-b9b9-1d00fb03ea1a Tree Statistics Get some statistics regarding a data tree. f38b56df-f160-4f00-93ee-7f4bf02519ff Tree Statistics TStat 2194 619 64 64 2224 651 2 Data Tree to analyze 52e816f8-a99a-44be-90d5-ec3d2ce73af6 Tree T false 351864b6-c8d4-46f7-8154-f87449a97355 1 2196 621 13 60 2204 651 1 All the paths of the tree 8a38088c-94bc-4da2-8264-64fdd9b81eca Paths P false 0 2239 621 17 20 2247.5 631 1 The length of each branch in the tree 26a54cde-78d0-4f32-b077-561666fd9c9f Length L false 0 2239 641 17 20 2247.5 651 Number of paths and branches in the tree db75a78d-213c-46de-836a-afa8c0029689 Count C false 0 2239 661 17 20 2247.5 671 12af9e10-3b04-4c8d-9a18-771c2a31b090 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 Gripper Unified gripper command. Type = BIO / Robotiq / Vacuum; only that type's inputs apply. BIO: Open. Robotiq: Position(0=open,255=closed)/Force/Speed (untested on real hardware). Vacuum: On + Timeout. Vacuum 394a1087-df36-4c9a-8316-93c948a11c2f Gripper Grip 3406 383 69 124 3442 445 Gripper type: BIO, Robotiq, or Vacuum. e7ab8eea-eb1e-435e-8d6f-af92be5421e1 Type Ty false 0 3408 385 19 20 3419 395 1 1 {0} false BIO BIO: true=open, false=close. Vacuum: true=suction on, false=release. (Ignored for Robotiq.) 32b853d7-80f5-4eb7-b38d-aafebaf0429a Open/On O false 0 3408 405 19 20 3419 415 1 1 {0} true Robotiq only: 0=fully open, 255=fully closed. 56e4f70b-2eb5-4424-8753-1272469212c7 Position P false 0 3408 425 19 20 3419 435 1 1 {0} 0 Robotiq only: grip force 0-255. 3df57334-294b-4ea2-8c7a-eb79106ef4ea Force F false 0 3408 445 19 20 3419 455 1 1 {0} 150 Robotiq only: open/close speed 0-255. ccedc6bd-897b-4a60-ac61-16e20267a21c Speed Sp false 0 3408 465 19 20 3419 475 1 1 {0} 100 Vacuum only: seconds to wait for pressure to stabilize (0 = don't wait). af699a71-3d34-4977-b06e-1d2d04a61363 Timeout To false 0 3408 485 19 20 3419 495 1 1 {0} 0 Gripper command target. 23f53f23-14e9-48e6-9aef-e5da90c29765 Target T false 0 3457 385 16 120 3465 445 12af9e10-3b04-4c8d-9a18-771c2a31b090 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 Gripper Unified gripper command. Type = BIO / Robotiq / Vacuum; only that type's inputs apply. BIO: Open. Robotiq: Position(0=open,255=closed)/Force/Speed (untested on real hardware). Vacuum: On + Timeout. Vacuum 4bcb909d-a266-4b30-86cc-fc8ae24d2a39 Gripper Grip 3406 704 69 124 3442 766 Gripper type: BIO, Robotiq, or Vacuum. c63a4731-f784-431f-bc3c-e076415e1aa3 Type Ty false 0 3408 706 19 20 3419 716 1 1 {0} false BIO BIO: true=open, false=close. Vacuum: true=suction on, false=release. (Ignored for Robotiq.) 25da38aa-e9a0-490e-966b-4e986b33f0f9 Open/On O false 0 3408 726 19 20 3419 736 1 1 {0} false Robotiq only: 0=fully open, 255=fully closed. 474db9b2-c6cd-4235-b600-8b7b3fd44d52 Position P false 0 3408 746 19 20 3419 756 1 1 {0} 0 Robotiq only: grip force 0-255. f97913c2-d732-4496-8d83-c177bbc0e52a Force F false 0 3408 766 19 20 3419 776 1 1 {0} 150 Robotiq only: open/close speed 0-255. f07c38d3-ffba-420c-91b8-331141db4858 Speed Sp false 0 3408 786 19 20 3419 796 1 1 {0} 100 Vacuum only: seconds to wait for pressure to stabilize (0 = don't wait). a39ed041-0352-49ff-8ad8-0ffcd7b3ccb5 Timeout To false 0 3408 806 19 20 3419 816 1 1 {0} 1 Gripper command target. d7c77fa1-db73-41d6-beae-46208258a1d1 Target T false 0 3457 706 16 120 3465 766 dd8134c0-109b-4012-92be-51d843edfff7 Duplicate Data Duplicate data a predefined number of times. f347c956-0c93-4c01-8933-bd6a5d03707a Duplicate Data Dup 3524 433 67 64 3556 465 1 Data to duplicate f1b87b30-fc50-446b-859d-fa2888773a6b Data D false 23f53f23-14e9-48e6-9aef-e5da90c29765 1 3526 435 15 20 3535 445 Number of duplicates 88ce71b7-8b72-453e-9de1-efdc3b21de5d Number N false ae13c93e-0072-4570-ac47-2169bcd5b53e 1 3526 455 15 20 3535 465 1 1 {0} 2 Retain list order 273617fd-9fcb-40e5-a73b-e11321c1b4ab Order O false 0 3526 475 15 20 3535 485 1 1 {0} true 1 Duplicated data 36c11ddf-0770-4fa8-a379-83197ccb5527 Data D false 0 3571 435 18 60 3580 465 dd8134c0-109b-4012-92be-51d843edfff7 Duplicate Data Duplicate data a predefined number of times. aca0e493-fcbc-44be-af4a-f1cb16ad7a0f Duplicate Data Dup 3537 754 67 64 3569 786 1 Data to duplicate 26a9b41d-3df8-4a99-8230-fdf6d2f08624 Data D false d7c77fa1-db73-41d6-beae-46208258a1d1 1 3539 756 15 20 3548 766 Number of duplicates 33efcb05-e506-4c1e-8b09-49f30f13d6af Number N false ae13c93e-0072-4570-ac47-2169bcd5b53e 1 3539 776 15 20 3548 786 1 1 {0} 2 Retain list order db0f7ec4-bb1f-4a63-9876-844b3cd73a5c Order O false 0 3539 796 15 20 3548 806 1 1 {0} true 1 Duplicated data d700519c-4443-45a5-9ba1-225098b400ad Data D false 0 3584 756 18 60 3593 786 12af9e10-3b04-4c8d-9a18-771c2a31b007 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 Wait Pause the program for a given number of seconds. 2d751328-d39c-4564-94a2-f0aa7bdf08cc Wait Wait 2730 719 63 44 2760 741 Pause duration in seconds. 9f7f67da-a358-4a03-b215-1f1e217ddd74 Seconds S false 0 2732 721 13 40 2740 741 1 1 {0} 0.5 Lite6 wait command (flows like a target — wire into a list with motion targets). 6deb9c3f-2490-4d68-9de3-cf18c20ba0ff Target T false 0 2775 721 16 40 2783 741 dd8134c0-109b-4012-92be-51d843edfff7 Duplicate Data Duplicate data a predefined number of times. 919d50ac-9d4b-452c-b9ae-92382caef538 Duplicate Data Dup 2863 729 67 64 2895 761 1 Data to duplicate 506058bc-5371-4ffe-a8f5-79d16e77a967 Data D false 6deb9c3f-2490-4d68-9de3-cf18c20ba0ff 1 2865 731 15 20 2874 741 Number of duplicates 9f0da45e-290d-4390-b3b3-ab250044ef1c Number N false ae13c93e-0072-4570-ac47-2169bcd5b53e 1 2865 751 15 20 2874 761 1 1 {0} 2 Retain list order 021ce2c2-1df6-47a7-90b6-82b468e10d72 Order O false 0 2865 771 15 20 2874 781 1 1 {0} true 1 Duplicated data 4bd416bc-2361-4186-83f7-da8df93d24d3 Data D false 0 2910 731 18 60 2919 761 12af9e10-3b04-4c8d-9a18-771c2a31b00d 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 Custom Tool Define 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. true bd021dbd-0659-4a16-afdf-253be31c52bd Custom Tool Tool Vacuum 3891 634 90 204 3944 736 1 List of RobotTarget. f6ceaf05-0bc8-40ab-a654-b3a1f98a18b0 1 Targets T false 1861cafc-1235-456f-8ccb-948c020d2ba2 1 3893 636 36 20 3920.5 646 TCP offset X in mm (flange frame). c25b5adf-10ad-407a-a3a0-52c2034487e8 X X false 0 3893 656 36 20 3920.5 666 1 1 {0} 0 TCP offset Y in mm (flange frame). c7260478-bc85-4c55-9ec1-dd4e416cabce Y Y false 0 3893 676 36 20 3920.5 686 1 1 {0} 0 TCP offset Z in mm — distance out along the flange axis. For a straight tool this is the only one you need. e0716148-ec0e-4c96-9250-7384b66781e2 Z Z false 0 3893 696 36 20 3920.5 706 1 1 {0} 61.1 Roll about X in degrees (UFACTORY 'A'). 0 for a straight tool. 2cca32a9-2fd8-425a-93d7-79b07f548394 Roll A false 0 3893 716 36 20 3920.5 726 1 1 {0} 0 Pitch about Y in degrees (UFACTORY 'B'). 2ee8cbda-8c52-4e81-a7c6-a2465c990941 Pitch B false 0 3893 736 36 20 3920.5 746 1 1 {0} 0 Yaw about Z in degrees (UFACTORY 'C'). d0fe3329-48cb-4084-99b5-59ecca5601a6 Yaw C false 0 3893 756 36 20 3920.5 766 1 1 {0} 0 1 Optional 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.) 8ec6d6b9-3d0f-4f39-83fd-18c14fb90e04 Tool Meshes M true 0 3893 776 36 20 3920.5 786 Tool type: Custom (define TCP via X/Y/Z/RPY), Gripper, or Vacuum (or right-click to pick; accepts 0/1/2). Gripper/Vacuum are presets — auto mesh + TCP + payload. Wired input overrides the right-click choice. 88084e79-4177-4f6a-953e-bf7a48ae7525 Type Ty true 0 3893 796 36 20 3920.5 806 1 1 {0} false 2 Tool payload mass in kg → codegen set_tcp_load. 0 = none (Custom) or the preset's known mass (Gripper 0.277, Vacuum 0.145). e0b32144-5c57-40c0-90c1-150ba56d2a3c Weight Kg false 0 3893 816 36 20 3920.5 826 1 1 {0} 0.145 1 Targets stamped with the tool offset. d9f07b71-f1ee-4d63-b669-6dca1ad26b8d Targets T false 0 3959 636 20 50 3969 661 1 Passthrough of input meshes — wire into Transform with flange pose from Sim. 7d7dcc20-977a-4f53-ad47-a799896357a8 Tool Meshes M false 0 3959 686 20 50 3969 711 Summary of what was applied. 72f60d17-3198-4550-9f05-e50c2af60a8f Status S false 0 3959 736 20 50 3969 761 Bundled tool (geometry + TCP) — wire into the Robot picker's Tool input so it travels with the robot everywhere (Stage, Collision, codegen TCP, Cartesian). f95281ea-b583-45d7-a69e-03f802374e91 Tool Tl false 0 3959 786 20 50 3969 811 57da07bd-ecab-415d-9d86-af36d7073abc Number Slider Numeric slider for single values b12b713d-f780-4f73-84d6-a276a0c01eba Number Slider Lead In/Out false 0 1033 504 191 20 1033.656 504.6265 3 1 1 500 0 0 175 3581f42a-9592-4549-bd6b-1c0fc39d067b Construct Point Construct a point from {xyz} coordinates. 894341e9-033d-4ff2-ae4c-00e47311e950 Construct Point Pt 2724 502 68 64 2755 534 {x} coordinate 4e97b5ae-36a3-4692-8b2e-9577c051d45c X coordinate X false 7c737ef2-1c9f-4ed0-ba45-7ca29616e8a4 1 2726 504 14 20 2734.5 514 1 1 {0} 0 {y} coordinate e9cf6a12-2b34-4389-bb20-7fcef948b78c Y coordinate Y false 307182a6-363c-4b83-bc9c-d64f69c1c117 1 2726 524 14 20 2734.5 534 1 1 {0} 0 {z} coordinate e8404bf4-bb72-4283-9a60-a969e9900831 Z coordinate Z false 2cb92d41-00fe-4254-a6d5-116ef10710b9 1 2726 544 14 20 2734.5 554 1 1 {0} 0 Point coordinate 47f8dfb9-d805-4951-aee9-8ecc0d509b20 Point Pt false 0 2770 504 20 60 2780 534 57da07bd-ecab-415d-9d86-af36d7073abc Number Slider Numeric slider for single values 7c737ef2-1c9f-4ed0-ba45-7ca29616e8a4 Number Slider false 0 2470 496 195 20 2470.405 496.3383 3 1 1 1000 0 0 280 57da07bd-ecab-415d-9d86-af36d7073abc Number Slider Numeric slider for single values 307182a6-363c-4b83-bc9c-d64f69c1c117 Number Slider false 0 2469 525 195 20 2469.915 525.616 3 1 1 500 -500 0 -195 57da07bd-ecab-415d-9d86-af36d7073abc Number Slider Numeric slider for single values 2cb92d41-00fe-4254-a6d5-116ef10710b9 Number Slider false 0 2469 554 195 20 2469.926 554.0277 3 1 1 1000 0 0 285 12af9e10-3b04-4c8d-9a18-771c2a31b017 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 Analysis Per-target joint values + warnings for limits, singularities, and axis flips. Double-click for graphical view. e7a77edb-a75d-4214-883b-f794fe68163b Analysis Anlz 4977 966 76 184 5016 1058 1 List of RobotTarget. 3e44189f-b298-4f87-8f42-5d317b10ae7b Targets T false 14500e67-6356-4bf9-9165-5abe4ae7012f 1 4979 968 22 30 4991.5 983 Warn when |J5| is below this many degrees. Default 5. a1f26581-7fad-4172-9cb7-9a15d0ae7a4c Wrist Singularity (deg) Ws false 0 4979 998 22 30 4991.5 1013 1 1 {0} 5 Warn when |J3| is within this many degrees of 0 (fully extended). Default 5. 9a11071f-47af-4ab1-977b-e421a884eba0 Elbow Singularity (deg) Es false 0 4979 1028 22 30 4991.5 1043 1 1 {0} 5 Warn when TCP's XY radius from base is below this. Default 30. e1a94b69-0e3e-4147-b7b1-2dd81bee5177 Shoulder Singularity (mm) Ss false 0 4979 1058 22 30 4991.5 1073 1 1 {0} 30 Warn when any joint changes by more than this between consecutive targets. Default 90. ad180ac9-9a38-489b-a79c-b7a53a144386 Flip Threshold (deg) Ft false 0 4979 1088 22 30 4991.5 1103 1 1 {0} 90 Optional — defaults to Lite 6. Wire a Robot component (UFactory > Utilities) to use another model. b2c8cf15-7c8b-4e1d-bd42-74d7ce771b4e Robot R true 0 4979 1118 22 30 4991.5 1133 1 J1 angle per target. 284f8af3-ba26-4039-8753-f7d6c55f7637 J1 (deg) J1 false 0 5031 968 20 20 5041 978 1 J2 angle per target. ffa5391e-2dd4-410d-b306-e83030ce2d9a J2 (deg) J2 false 0 5031 988 20 20 5041 998 1 J3 angle per target. f59a7d36-e614-4c71-b703-109a66004947 J3 (deg) J3 false 0 5031 1008 20 20 5041 1018 1 J4 angle per target. 86957e10-c8ac-4426-8d91-61f434b4f45d J4 (deg) J4 false 0 5031 1028 20 20 5041 1038 1 J5 angle per target. d9189272-8f4a-470c-b559-614c4fc70f8e J5 (deg) J5 false 0 5031 1048 20 20 5041 1058 1 J6 angle per target. 2e10545a-0674-48bb-ad99-ce50f5f4db24 J6 (deg) J6 false 0 5031 1068 20 20 5041 1078 1 One entry per target. 'OK' or comma-separated problem flags. ded2b9f2-5164-4d9f-9523-5136a0e97a8b Warnings W false 0 5031 1088 20 20 5041 1098 1 6 polylines (one per joint), joint deg vs target index. For in-viewport preview. 46f26db9-7674-4983-ba35-77b8645cd230 Graph Curves G false 0 5031 1108 20 20 5041 1118 Counts of each warning type across the toolpath. f5bd7c8d-8ce3-4c2d-bcba-b959fa4ae91e Summary S false 0 5031 1128 20 20 5041 1138 12af9e10-3b04-4c8d-9a18-771c2a31b00b 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 G-Code Export Emit UFactory-dialect G-code (RS-274 / LinuxCNC-compatible) executable on any UFactory controller. (Exporter — not to be confused with the 'Import' component that reads G-code/NC in.) 2ffa0c4d-8492-4cf8-97c4-f3f65a63f023 G-Code Export GCode 4979 447 68 124 5012 509 1 List of RobotTarget. fb296c04-8b16-4588-a493-92c3d07fc054 Targets T false 14500e67-6356-4bf9-9165-5abe4ae7012f 1 4981 449 16 20 4990.5 459 Feedrate for G1 (LIN) moves in mm/min. Default 6000 = 100 mm/s. dce7bcca-e331-4b56-8c4b-cae1a46c22af Linear Feed Fl false 0 4981 469 16 20 4990.5 479 1 1 {0} 6000 Feedrate annotation for G0 (PTP) moves in mm/min. Default 18000 = 300 mm/s. 014e29d8-9f25-40c9-9d2a-b21ed37b6e3c Rapid Feed Fr false 0 4981 489 16 20 4990.5 499 1 1 {0} 18000 Include G90/G21 preamble and trailing M30. b1706747-dc98-4725-845d-327be130975f Header H false 0 4981 509 16 20 4990.5 519 1 1 {0} true Tool digital IO number for gripper (M116 P). Default 0. a948814f-13eb-447a-97f4-e9eacf9a64a1 Gripper IO G false 0 4981 529 16 20 4990.5 539 1 1 {0} 0 Optional UFactory robot model. Defaults to Lite 6. Used only for Forward-kinematics fallback when PTP/LIN targets have no TargetPlane. 62b65df1-fe03-468e-b95d-1449858429a0 Robot R true 0 4981 549 16 20 4990.5 559 G-code text. Save as .ngc / .nc and load in UFACTORY Studio's G-code panel. 26539e34-98ae-4c40-9486-89adc67e1c10 G-Code G false 0 5027 449 18 60 5036 479 Count of motion lines (G0/G1) emitted. cb2f8aab-406d-43a9-9cea-912f2d449807 Lines L false 0 5027 509 18 60 5036 539 fbac3e32-f100-4292-8692-77240a42fd1a Point Contains a collection of three-dimensional points c3f361dc-4708-44e4-ae24-7bb40bf3cc38 Point Pt false 0 98 365 50 20 123.053 375.7898 1 1 {0} 233.8 179.1 37.2 807b86e3-be8d-4970-92b5-f8cdcb45b06b Circle Create a circle defined by base plane and radius. 7d422d7b-92c4-4875-9268-7830de14f329 Circle Cir 182 363 65 44 213 385 Base plane of circle 2cc9b13b-ad66-4350-b085-aa61f9c49cb8 Plane P false c3f361dc-4708-44e4-ae24-7bb40bf3cc38 1 184 365 14 20 192.5 375 1 1 {0} 0 0 0 1 0 0 0 1 0 Radius of circle 96847075-97b5-4561-a4d8-4c0bbc86e5ea Radius R false 0 184 385 14 20 192.5 395 1 1 {0} 7.5 Resulting circle ef8ef450-ff1e-4993-b12e-5b4857670b5d Circle C false 0 228 365 17 40 236.5 385 e9eb1dcf-92f6-4d4d-84ae-96222d60f56b Move Translate (move) an object along a vector. 4211328b-8ca3-45a8-8be2-0cc67f11c928 Move Move 449 372 67 50 481 397 Base geometry 0575b220-4b5b-44fc-9bcc-90a4bf2fb1c1 Geometry G true ef8ef450-ff1e-4993-b12e-5b4857670b5d 1 451 374 15 23 460 385.5 Translation vector 8f837e42-b08d-439b-a868-214aaa3c023f Motion T false 490dca4a-acf2-4bdf-b7f1-7f16e4f4cbf5 1 451 397 15 23 460 408.5 1 1 {0} 0 0 10 Translated geometry c52ca5e2-46bf-4f07-98f5-f0a54fb88846 Geometry G false 0 496 374 18 23 505 385.5 Transformation data 3676828f-7451-4146-a90c-008b94cf41bd Transform X false 0 496 397 18 23 505 408.5 79f9fbb3-8f1d-4d9a-88a9-f7961b1012cd Unit X Unit vector parallel to the world {x} axis. 3e638add-b38b-4c0d-a8c9-d35639d4cc5d Unit X X 307 415 63 28 336 429 Unit multiplication c321baa7-fdca-49f9-824b-54395f4aaaa9 Factor F false 7d587f08-0be1-494d-a4db-b299592149f9 1 309 417 12 24 316.5 429 1 1 {0} 1 World {x} vector 490dca4a-acf2-4bdf-b7f1-7f16e4f4cbf5 Unit vector V false 0 351 417 17 24 359.5 429 57da07bd-ecab-415d-9d86-af36d7073abc Number Slider Numeric slider for single values 69581145-893e-4bb0-bd6b-766317ff2b20 Number Slider false 0 11 490 162 20 11.57478 490.6593 3 1 1 10 1 0 6 e64c5fb1-845c-4ab1-8911-5f338516ba67 Series Create a series of numbers. b04ea83b-b6d5-4bb4-b388-8c64a4f00151 Series Series 203 447 65 64 235 479 First number in the series 39e00e74-a75d-4503-97eb-ca865fbeea98 Start S false 0 205 449 15 20 214 459 1 1 {0} 0 Step size for each successive number c246714f-79d0-4eec-8406-847bd8473691 Step N false 0 205 469 15 20 214 479 1 1 {0} 22 Number of values in the series 16b9e5ac-0768-4ca4-8771-ceef5c563562 Count C false 69581145-893e-4bb0-bd6b-766317ff2b20 1 205 489 15 20 214 499 1 1 {0} 10 1 Series of numbers 7d587f08-0be1-494d-a4db-b299592149f9 Series S false 0 250 449 16 60 258 479 a3371040-e552-4bc8-b0ff-10a840258e88 Negative Compute the negative of a value. 6056756a-5893-435c-ad7e-c9294da1cdc0 Negative Neg 307 459 61 41 336 480 Input value 1e040356-cd3c-4f39-86b9-4f773138b5b0 Value x false 7d587f08-0be1-494d-a4db-b299592149f9 1 309 461 12 37 316.5 479.5 Output value d836c9f2-31c5-4d75-be0e-cbfebc1dce3a Result y false 0 351 461 15 37 358.5 479.5 e9eb1dcf-92f6-4d4d-84ae-96222d60f56b Move Translate (move) an object along a vector. b0c73c4d-4e1e-4160-8b6e-7923f76f8eae Move Move 561 443 83 50 609 468 Base geometry bc9cbc5b-dd9f-4e05-9d51-f5579b123c9e Geometry G true c52ca5e2-46bf-4f07-98f5-f0a54fb88846 1 563 445 31 23 588 456.5 Translation vector 1a769536-3fda-4887-b1e8-d00965d77522 2 Motion T false 051b71f6-fcc7-47ea-9d2d-886a4f302a99 1 563 468 31 23 588 479.5 1 1 {0} 0 0 10 Translated geometry caff4b6d-eb12-4985-8b22-73b5b1e114b2 Geometry G false 0 624 445 18 23 633 456.5 Transformation data 534af75c-fa46-4f94-abf9-1f6312d2e164 Transform X false 0 624 468 18 23 633 479.5 d3d195ea-2d59-4ffa-90b1-8b7ff3369f69 Unit Y Unit vector parallel to the world {y} axis. c5517c7b-4497-4df8-b09d-b5bcb81cb09a Unit Y Y 384 465 63 28 413 479 Unit multiplication 2ab7aaba-4b88-4086-a0a7-4e5118a4e452 Factor F false d836c9f2-31c5-4d75-be0e-cbfebc1dce3a 1 386 467 12 24 393.5 479 1 1 {0} 1 World {y} vector 051b71f6-fcc7-47ea-9d2d-886a4f302a99 Unit vector V false 0 428 467 17 24 436.5 479 fbac3e32-f100-4292-8692-77240a42fd1a Point Contains a collection of three-dimensional points 390ddd80-8bb2-439f-90d2-f7276b9b6be6 1 Point Pt false caff4b6d-eb12-4985-8b22-73b5b1e114b2 1 674 454 69 20 718.6887 464.8201 c552a431-af5b-46a9-a8a4-0fcbc27ef596 Group 1 150;170;135;255 A group of Grasshopper objects c3f361dc-4708-44e4-ae24-7bb40bf3cc38 7d422d7b-92c4-4875-9268-7830de14f329 4211328b-8ca3-45a8-8be2-0cc67f11c928 3e638add-b38b-4c0d-a8c9-d35639d4cc5d 69581145-893e-4bb0-bd6b-766317ff2b20 b04ea83b-b6d5-4bb4-b388-8c64a4f00151 6056756a-5893-435c-ad7e-c9294da1cdc0 b0c73c4d-4e1e-4160-8b6e-7923f76f8eae c5517c7b-4497-4df8-b09d-b5bcb81cb09a 77e73c2e-9003-49e3-85e3-76bfb7dd8e89 10 7cbad0d8-9594-4529-a870-84c1142c6633 Group 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe Scribble true 14.23257 313.3624 153.8444 313.3624 153.8444 336.9952 14.23257 336.9952 A quick note Microsoft Sans Serif 77e73c2e-9003-49e3-85e3-76bfb7dd8e89 false Scribble Scribble 25 Marble Tray 9.23257 308.3624 149.6118 33.63281 14.23257 313.3624 59e0b89a-e487-49f8-bab8-b5bab16be14c Panel A panel for custom notes and text values 44877a57-06ea-4cac-993b-66309f59fb9b Panel GCODE false 0.14170040562748909 26539e34-98ae-4c40-9486-89adc67e1c10 1 Double click to edit panel content… 5155 338 523 287 0 0 0 5155.537 338.6678 255;255;250;90 true true true false false true 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe Scribble true 81.82211 -215.5298 215.9286 -215.5298 215.9286 -191.897 81.82211 -191.897 A quick note Microsoft Sans Serif f746324c-29ee-4ae2-8f40-7ac50a4488e0 false Scribble Scribble 25 Robot Type 76.82211 -220.5298 144.1064 33.63281 81.82211 -215.5298 c552a431-af5b-46a9-a8a4-0fcbc27ef596 Group 1 150;151;255;135 A group of Grasshopper objects eeb24c14-a09a-4f43-939d-4c62822df474 f746324c-29ee-4ae2-8f40-7ac50a4488e0 3ec10434-b4cb-4a45-9fec-01ec012bbe59 f228c83f-5c88-44e5-9919-0306a30a310f e98c65d8-d750-4a2b-acfb-5b8fbf601522 16b253ee-c838-490b-bf0a-788f0d486df6 5a129c0a-dd1a-46cc-aada-dff880b1ce28 b608e705-a0e7-477c-80ba-bc5204740029 6d9b041e-f486-4951-a66e-82983524e202 34e4adaf-366f-4c2d-83f7-bd9f84ac53d8 4df6a975-aafa-47c4-9ced-4206ec6a3bc2 11 745552a8-49c6-49ea-96cf-c781c50faec4 Group 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe Scribble true 2472.116 682.9432 2779.208 682.9432 2779.208 706.3074 2472.116 706.3074 A quick note Microsoft Sans Serif 879258d3-6fef-4ef0-9fdd-50447feed678 false Scribble Scribble 25 Add Wait For Marble Drop 2467.116 677.9432 317.0923 33.36426 2472.116 682.9432 c552a431-af5b-46a9-a8a4-0fcbc27ef596 Group 1 150;170;135;255 A group of Grasshopper objects 2d751328-d39c-4564-94a2-f0aa7bdf08cc 919d50ac-9d4b-452c-b9ae-92382caef538 879258d3-6fef-4ef0-9fdd-50447feed678 3 1d19e1e1-337f-4859-a518-2f0306eda163 Group 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe Scribble true 3323.218 334.8729 3622.583 334.8729 3622.583 358.5423 3323.218 358.5423 A quick note Microsoft Sans Serif 0640fa5d-802f-4607-a926-d9ef44177bf8 false Scribble Scribble 25 Vacuum Gripper ON/OFF 3318.218 329.8729 309.3652 33.66943 3323.218 334.8729 c552a431-af5b-46a9-a8a4-0fcbc27ef596 Group 1 150;170;135;255 A group of Grasshopper objects ef4657b0-de1d-4f4b-a2b0-ffd4769c0ee8 394a1087-df36-4c9a-8316-93c948a11c2f 4bcb909d-a266-4b30-86cc-fc8ae24d2a39 0640fa5d-802f-4607-a926-d9ef44177bf8 4 679e2efc-44a3-4b66-9f15-57c79c21f6b6 Group 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe Scribble true 2472.264 452.6636 2684.703 452.6636 2684.703 476.0279 2472.264 476.0279 A quick note Microsoft Sans Serif 14561364-107f-452d-b27d-ba9d0e45455e false Scribble Scribble 25 Marble Drop Point 2467.264 447.6636 222.439 33.36426 2472.264 452.6636 c552a431-af5b-46a9-a8a4-0fcbc27ef596 Group 1 150;170;135;255 A group of Grasshopper objects 8515b308-8850-4d9b-bfe6-83e29108f32b 814eca24-90ac-4cba-84f0-2c8317f2f9ad 4ee076d6-85b7-4f06-aa98-be963d9cfa9b 894341e9-033d-4ff2-ae4c-00e47311e950 7c737ef2-1c9f-4ed0-ba45-7ca29616e8a4 307182a6-363c-4b83-bc9c-d64f69c1c117 2cb92d41-00fe-4254-a6d5-116ef10710b9 14561364-107f-452d-b27d-ba9d0e45455e 202e9acc-8294-4eae-9158-0d317fda92ae 9 2d486a41-dd49-4c56-8f68-0168a85629d1 Group 7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe Scribble true 1036.125 420.5353 1252.885 420.5353 1252.885 439.5294 1036.125 439.5294 A quick note Microsoft Sans Serif 7c1c5979-7d2f-4d71-98cb-f2d83a98b68b false Scribble Scribble 25 Lead In / Lead Out 1031.125 415.5353 226.7603 28.99414 1036.125 420.5353 c552a431-af5b-46a9-a8a4-0fcbc27ef596 Group 1 150;170;135;255 A group of Grasshopper objects 0f6b3b02-7815-4a80-be81-91e97212f77f b12b713d-f780-4f73-84d6-a276a0c01eba 7c1c5979-7d2f-4d71-98cb-f2d83a98b68b 2f76f3df-658f-4134-87c6-4f972158f219 4 ba13c990-6fcc-4898-856b-18f091c56715 Group 12af9e10-3b04-4c8d-9a18-771c2a31b020 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 Connect Open a persistent TCP connection to a UFactory bridge process. Output handle wires into Live State / Live Send / Drag Mode / Record. 67fa4bdd-ab45-469b-84a0-ecc989847215 Connect Conn 123 1047 105 124 174 1109 Bridge host. Use 'mock' for in-memory emulator (offline dev testing); 127.0.0.1 for same-machine bridge; otherwise IP / Tailscale name. 2f612d56-c6c7-4d90-bcd0-38178c5b43e3 Host H false 0 125 1049 34 20 143.5 1059 1 1 {0} false 127.0.0.1 Bridge port (default 65432). b0fe161c-2d12-45b8-8833-ded74e3433aa Port P false 0 125 1069 34 20 143.5 1079 1 1 {0} 65432 Toggle to open the connection. Set false to close. 9c1d7fc4-91d7-45a9-934d-813aafc88053 Enable On false c7bfb397-4934-4795-86ce-0987b5903d07 1 125 1089 34 20 143.5 1099 1 1 {0} false The UFactory ARM's IP address (e.g. 192.168.1.159), NOT the bridge host. Used to auto-start the bridge so it connects to your robot. Find it in UFACTORY Studio. 42e257ff-f302-4c28-b984-c887ff9e87f2 Robot IP IP false 0 125 1109 34 20 143.5 1119 1 1 {0} false 192.168.1.159 When Host is local (127.0.0.1) and no bridge is reachable, launch the bundled egret-bridge.exe automatically, no terminal needed. Reuses any bridge already running. c00de4c7-3b3d-433f-8954-2f8d50e4ef41 Auto-start Auto false 0 125 1129 34 20 143.5 1139 1 1 {0} true OFF (default) auto-starts the bridge read-only, probes work, all motion blocked. Flip ON to (re)start it motion-enabled. Only affects bridges Egret auto-started. 0be91210-3691-4fca-95fc-65e7035aeb64 Allow Motion Move false 0 125 1149 34 20 143.5 1159 1 1 {0} false Connection handle. Wire into Live State / Live Send / etc. bc3d44d7-fd8e-42c0-892d-17a875e393ea Connection C false 0 189 1049 37 40 207.5 1069 True if the socket is currently open. 92715a7f-871e-4289-9a46-a99e3337065f Open Open false 0 189 1089 37 40 207.5 1109 Connection status / error. bf727343-9f1a-49ee-9a27-dc3ddc160b42 Status S false 0 189 1129 37 40 207.5 1149 2e78987b-9dfb-42a2-8b76-3923ac8bd91a Boolean Toggle Boolean (true/false) toggle c7bfb397-4934-4795-86ce-0987b5903d07 Boolean Toggle Toggle false 0 true 11 1118 104 22 12af9e10-3b04-4c8d-9a18-771c2a31b021 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 Live State Poll the bridge for current robot joint/TCP/IO state. Wire a Timer upstream for continuous updates. true c41df98d-b737-4506-b064-94004361b21d Live State Live 256 1067 81 84 291 1109 Connection from Lite6 Connect. c9425d69-b8a4-43fe-b274-decf3704444d Connection C false bc3d44d7-fd8e-42c0-892d-17a875e393ea 1 258 1069 18 40 268.5 1089 Trigger a poll. Wire a Timer (~100-250ms) for continuous updates. 7195073d-6c21-4c31-a8d9-d525964ea5ab Tick Tk false 0 258 1109 18 40 268.5 1129 1 1 {0} true 1 Current joint angles in degrees (length = robot DOF). db37461f-4fc1-4328-b2d5-c2ab670d2f1e Joints (deg) J false 0 306 1069 29 20 320.5 1079 Current TCP pose as a Plane. 4c7cc155-34f3-4141-9e57-e4b11d26287d TCP TCP false 0 306 1089 29 20 320.5 1099 RobotTarget built from current joints + TCP — wire into Stage for live mirror. 82154eb8-1fc4-4079-8e95-d89048759e66 Target T false 0 306 1109 29 20 320.5 1119 OK or error. dd7f3fb0-b456-43ec-89f1-ac79f3d99eea Status S false 0 306 1129 29 20 320.5 1139 5a2b0735-ba98-4b7d-a7d3-c1dfc04475ad Trigger Manually or cyclically trigger updates of certain components. d0128331-d152-4911-8e05-ccc7841438b2 100 false Trigger c41df98d-b737-4506-b064-94004361b21d 1 100 101 1001 156 24 12af9e10-3b04-4c8d-9a18-771c2a31b00d 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 Tool Define 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. true 6a294ecd-2137-415d-8d1f-6c8b17d1fa94 Tool Tool Vacuum 437 1002 74 204 474 1104 1 List of RobotTarget. fe12552b-40e4-48dd-bc88-3baa7855f935 Targets T false 82154eb8-1fc4-4079-8e95-d89048759e66 1 439 1004 20 20 450.5 1014 TCP offset X in mm (flange frame). cd30727e-a015-4713-9e60-8ac9cce16b36 X X false 0 439 1024 20 20 450.5 1034 1 1 {0} 0 TCP offset Y in mm (flange frame). 1480716d-9ae9-4504-b750-fb3507ea4ad7 Y Y false 0 439 1044 20 20 450.5 1054 1 1 {0} 0 TCP offset Z in mm — distance out along the flange axis. For a straight tool this is the only one you need. 361952c3-c0d6-4308-a456-2e84332ec8d0 Z Z false 0 439 1064 20 20 450.5 1074 1 1 {0} 61.1 Roll about X in degrees (UFACTORY 'A'). 0 for a straight tool. 2915cb8b-8f54-480b-ab91-006baa270bd2 Roll A false 0 439 1084 20 20 450.5 1094 1 1 {0} 0 Pitch about Y in degrees (UFACTORY 'B'). 1405af28-335d-4759-bff0-43a1b0af99d9 Pitch B false 0 439 1104 20 20 450.5 1114 1 1 {0} 0 Yaw about Z in degrees (UFACTORY 'C'). 9c0b48c4-c206-47b6-9342-c75ba1650009 Yaw C false 0 439 1124 20 20 450.5 1134 1 1 {0} 0 1 Optional 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.) 245b440c-5fdd-4ff9-8f2b-f9e7e8718986 Tool Meshes M true 0 439 1144 20 20 450.5 1154 RIGHT-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.) 78d50c85-c045-47ee-a215-f2eca7bb5292 Type Ty true 0 439 1164 20 20 450.5 1174 1 1 {0} false Custom Tool payload mass in kg → codegen set_tcp_load. 0 = none (Custom) or the preset's known mass (Gripper 0.277, Vacuum 0.145). 25b8c61e-e843-412c-9f40-3c4b89e3ddb6 Weight Kg false 0 439 1184 20 20 450.5 1194 1 1 {0} 0.145 1 Targets stamped with the tool offset. 7ce4e2a6-53b5-41d3-b97c-432c62784e28 Targets T false 0 489 1004 20 50 499 1029 1 Passthrough of input meshes — wire into Transform with flange pose from Sim. 68d8c0cb-4a1d-4804-802f-624b244e7560 Tool Meshes M false 0 489 1054 20 50 499 1079 Summary of what was applied. 2a2a63ba-0e3b-4335-a699-f2844121f61b Status S false 0 489 1104 20 50 499 1129 Bundled tool (geometry + TCP) — wire into the Robot picker's Tool input so it travels with the robot everywhere (Stage, Collision, codegen TCP, Cartesian). 4d533d3f-a996-4e6e-9ca1-2ba2a9c6c63e Tool Tl false 0 489 1154 20 50 499 1179 7f3c2a90-1d54-4b6e-9a21-3c8e5f70d2b1 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 Toolpath Optimizer PREMIUM. Relieve singularities, smooth posture, avoid obstacles (beta), reorder for cycle time. true cf5e183a-7f28-4658-954f-b420e5e55157 Toolpath Optimizer Optimize 4486 279 83 204 4529 381 1 RobotTarget list to optimize. 58004d14-abbe-4478-a5f7-852a1c55b9a6 Targets T false bd8d3a3a-6c2d-42da-b312-8b8f0379494f 1 4488 281 26 20 4502.5 291 Tier A: branch-select away from the wrist singularity; tilt the tool minimally if the pose is inherently flat-wristed. 363e14ec-982d-4040-870b-a5a57eebb08c Relieve Singularities A false 0 4488 301 26 20 4502.5 311 1 1 {0} true Tier A: keep |J5| at least this many degrees away from 0 (the wrist singularity). Default 8. 091580fb-4852-4b88-8d63-0325e3de2ea5 Wrist Clearance Wc false 0 4488 321 26 20 4502.5 331 1 1 {0} 8 Tier A: max tool tilt (deg) allowed to clear a singularity. 0 = branch-select only, never tilt. Default 12. 02f563b0-ec7b-448c-b00c-857e4337711e Max Tilt Mt false 0 4488 341 26 20 4502.5 351 1 1 {0} 12 Tier B: keep consecutive targets in the same IK branch (minimize joint travel / wrist flopping). d7289964-53b6-4730-b36f-cfb36ed0b161 Smooth Posture B false 0 4488 361 26 20 4502.5 371 1 1 {0} true Tier C (BETA): detect tool-tip path collisions with the Obstacles and detour over them. Tool-tip path only, not the full arm sweep. b69f8476-d506-4e1a-b26a-31d277be70e5 Avoid Obstacles C false 0 4488 381 26 20 4502.5 391 1 1 {0} true 1 Tier C: obstacle meshes (world frame). Used only when Avoid Obstacles is on. b906e2ef-2902-4a7c-970a-f360c9c6b001 Obstacles Obs true 32a3e9d6-3d3f-4c8f-811d-95381e30891a 1 4488 401 26 20 4502.5 411 Tier D: reorder moveable targets (nearest-neighbor + 2-opt) to cut travel. Non-motion steps stay pinned as fences. bbb8a31e-8ede-4dec-874a-ffc1da0aaeb1 Optimize Order D false 0 4488 421 26 20 4502.5 431 1 1 {0} true Optional — defaults to Lite 6. Wire a Robot component to use another model. 509a10f7-3257-45fc-af5e-73f05090c9c1 Robot R true 0 4488 441 26 20 4502.5 451 1 Tier C (optional): geometry of an object the gripper PICKS UP, positioned where it sits at the pick. While carried (vacuum ON→OFF, from the pick onward) it rides the TCP and is collision-checked against the Obstacles too — not just the tool tip. c1d28afd-73aa-4f39-8f84-48a73155e10a Payload Pay true 21dd8a10-516e-44e2-a1a1-d380dfa34800 1 4488 461 26 20 4502.5 471 1 Optimized RobotTarget list. 0e386e6f-4511-47f3-9897-ac6dfff4b3fc Targets T false 0 4544 281 23 50 4555.5 306 One-line summary of what each tier did. bcaf77ac-6237-49d6-bc2f-0af4104cf15b Status S false 0 4544 331 23 50 4555.5 356 1 Per-action notes (singularities relieved, tilts, detours). f7f76eda-98d3-4a3c-8e1d-d48d8409867e Report Rp false 0 4544 381 23 50 4555.5 406 1 Tier A: tool frames that were tilted to clear a singularity (for inspection). 99440a71-4788-42d5-a684-f9ecb44a6844 Tilted Frames Tf false 0 4544 431 23 50 4555.5 456 f02a20f6-bb49-4e3d-b155-8ed5d3c6b000 Jitter Randomly shuffles a list of values. 6a79c7f3-c15f-4c97-95a3-a2e1c6df6abd Jitter Jitter 706 355 64 64 736 387 1 Values to shuffle 3b9c9adc-d718-4440-be5e-2dd628a4ea8c List L false 390ddd80-8bb2-439f-90d2-f7276b9b6be6 1 708 357 13 20 716 367 Shuffling strength. (0.0 = no shuffling, 1.0 = complete shuffling) 7861bfd3-a983-4915-b755-c9de4ae3ac79 Jitter J false 0 708 377 13 20 716 387 1 1 {0} 1 Seed of shuffling engine 1a5af681-9aa8-4d75-ab89-96b281a6aa2d Seed S false 0 708 397 13 20 716 407 1 1 {0} 2 1 Shuffled values 7da20739-cf4d-4830-8777-0061244bfc21 Values V false 0 751 357 17 30 759.5 372 1 Index map of shuffled items a8c839ff-1ff0-4d6c-8d82-06378066cc4a Indices I false 0 751 387 17 30 759.5 402 919e146f-30ae-4aae-be34-4d72f555e7da Brep Contains a collection of Breps (Boundary REPresentations) 32a3e9d6-3d3f-4c8f-811d-95381e30891a Brep Brep false 0 4216 503 50 20 4241.941 513.8823 1 1 {0} Y2BkYGD4DwQgGgR4mIBEWFBGZl6+c35ubn6ejkJYalFxZn6erYWeobmekamBmZmeuYGBoY6Cc2lOSWlRqm1eamlJUWKOjkJAaVJOZrJ3amVIfnZqnq2pqZGRhWGqpXmyuampqbEBK8gSYbDZeu6p+bmpJUWVek5FqQUsQHH2Mog1XIlFyRmZZanGKbmc+QWpeXmlRUnFLCmJJYkgRRwcHEwgFwqoMzAYAellnwV5OJmBDH4QcZiLgYHpVz0Tw3YuiG9+/2diEIH6zPlQ/getxRxuc28sv3TknJaZxr81Vn+A8vVQtUYMDQwOtswQjgDISSDngkzby4BpmqTg+rhA7iuC+/8xCDQzKn3wkqoUB5nWCpUXYIIymKAYFXywxxCCiO9HF0HWO2FWgNIJoUYHTLHEAzA5GD/MTOfc/3qmBpi6QeMZVAcnOiDEEI5H4zs87N3RNCg9AwPIMYPueFQ1iQ4a6fbvB6VnsMUMuuPR+Afm31m9GNkz1m3XWEEZyQtaoAgwIvnQkBHTh1r7jM9v4QT68DfEh9NkzjWCfPgT5sOurRsZy54VOMjdKtDpfh10YIPTmhNnk/JgLmlApT/s7+9lNbM9+N6+5MyBywcX7If7FMaHyhMU7xbw9dx2w+UAn86GGN69oQ7o7lipEyLl3pLsIGLcv1HAu8xhVmJbhtjsULj70NXH6DRZr1pQAg9BCV2XkN+KnA7ooQ4qgR6HiJQih6qK4X07UKhKMGEJ1f9YQnUbYwuXie9M7zZRab8i2yNPrzHq3gGF6nGoWgVcoYpVvAke2lBXS6Klg0YHxzVzWT+uTnV4pP1v8oFpqfDQ+TxlSsPnb2UOYn1ZNqsjTR2QQ4FxNE1QkCY09ectwJZGEmGBBMu+uBwJq/JhgBGL2mioA9HVuq4Lew2yLBBmGboCdB/ALGCC0sx41B5KXJUAMlwSltpZGDABLOGBGi/I4ixQjA/A9BJQhgFguQ6b52DyIADyHCteuzH1EgvQC3rkcIC5DwRAYcBGwCxyw4EZinFFMoyGqcNtN/nh4G3uqwpKJJpQvgCyx2EOYII6ACZXfH5nD0iTIZQviOxaQiDwQ9Njkos5oGXwlND7nukShgDIZiX+I2HIWZmblIAYBaNgFIyCUTAKRsEoGAWjYBTQAAAA 00000000-0000-0000-0000-000000000000 8ec86459-bf01-4409-baee-174d0d2b13d0 Data Contains a collection of generic data 5546182d-83bc-4065-9c89-3eb001bcdf50 Data Data false d9f07b71-f1ee-4d63-b669-6dca1ad26b8d 1 4214 568 50 20 4239.118 578.8165 12af9e10-3b04-4c8d-9a18-771c2a31b004 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 PTP Point-to-point move to a target plane: the fastest way there — joints take the quickest route, so the tool path is NOT straight. Works out the joint angles for you (IK). Use for free-space moves where the exact path doesn't matter. 202e9acc-8294-4eae-9158-0d317fda92ae PTP PTP 3084 334 64 64 3115 366 Target TCP plane in robot base frame. 868f8f2b-7618-4494-8b96-50dc68b5dbd8 Target P false 97a11714-02a9-4516-81c4-ec24796af0e2 1 3086 336 14 20 3094.5 346 Speed percent (1-100). f8d9552c-5797-43cf-a9ad-83b114fefe8b Speed S false 0 3086 356 14 20 3094.5 366 1 1 {0} 25 Optional — defaults to Lite 6. Wire a Robot component (UFactory > Utilities) to use another model. cf0f7caf-c871-4172-bab4-98c5189bbcd4 Robot R true 0 3086 376 14 20 3094.5 386 robot target (joint-angle form). 5c836d58-5eb6-4b14-8c6b-b1e3a67e0364 Target T false 0 3130 336 16 20 3138 346 Resolved joint angles in degrees, comma-separated. 63f16794-b7cf-4231-b75c-0fadcd4422c2 Joints J false 0 3130 356 16 20 3138 366 IK status / warning. 0df99ce4-2c01-468f-9ed5-828aa6cba5ad Status S false 0 3130 376 16 20 3138 386 12af9e10-3b04-4c8d-9a18-771c2a31b004 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 PTP Point-to-point move to a target plane: the fastest way there — joints take the quickest route, so the tool path is NOT straight. Works out the joint angles for you (IK). Use for free-space moves where the exact path doesn't matter. d8c01b80-3885-4625-b927-f10300631e19 PTP PTP 903 523 100 64 934 555 Target TCP plane in robot base frame. 052e94e0-5017-4856-a90d-1efc1d2b6181 Target P false 2564908c-5fb2-48aa-89cb-9488e567f167 1 905 525 14 20 913.5 535 Speed percent (1-100). ea68419d-d8f0-4cbc-b988-2405bbf087fe Speed S false 0 905 545 14 20 913.5 555 1 1 {0} 50 Optional — defaults to Lite 6. Wire a Robot component (UFactory > Utilities) to use another model. 68eec023-5493-42a1-80d3-c0b1c0fa39fe Robot R true 0 905 565 14 20 913.5 575 robot target (joint-angle form). 9b957a1b-fed3-4100-aa27-342f8d24e109 2 Target T false true 0 949 525 52 20 957 535 Resolved joint angles in degrees, comma-separated. e4d8755f-7c63-4079-bd5a-e2d8c5fee10b Joints J false 0 949 545 52 20 957 555 IK status / warning. 201f8c67-03ec-4700-a8a2-7e5bda355c2c Status S false 0 949 565 52 20 957 575 dabc854d-f50e-408a-b001-d043c7de151d Sphere Create a spherical surface. ba846806-e69d-4541-8dfc-131f2dd4c2b4 Sphere Sph 221 205 64 44 252 227 Base plane d3fc1745-22b1-404b-b798-f4ac15827109 Base B false c3f361dc-4708-44e4-ae24-7bb40bf3cc38 1 223 207 14 20 231.5 217 1 1 {0} 0 0 0 1 0 0 0 1 0 Sphere radius 3e1df201-892d-4661-95d9-d9f0fb05dc8a Radius R false 0 223 227 14 20 231.5 237 1 1 {0} 8 Resulting sphere f2a05f4d-8dea-4de7-87a1-caacc1391cf3 Sphere S false 0 267 207 16 40 275 227 59e0b89a-e487-49f8-bab8-b5bab16be14c Panel A panel for custom notes and text values e8ba6652-2473-43ea-96e8-440319704388 Panel false 0 390ddd80-8bb2-439f-90d2-f7276b9b6be6 1 Double click to edit panel content… 714 281 160 100 0 0 0 714.0637 281.6275 255;255;250;90 true true true false false true 12af9e10-3b04-4c8d-9a18-771c2a31b003 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 Stage Visualize the robot, scrub the toolpath, see per-joint plots. Double-click for the Stage form. Outputs link meshes, TCP, and a passthrough Targets list. true 86a0304b-99e2-4780-b86a-87f1c1f640c1 Stage Stage 635 1017 91 244 680 1139 1 List of RobotTargets to visualize. Uses the LAST one. 3d4b6745-fadb-4bbf-9bc6-c5115c3d4fdc Targets T false 7ce4e2a6-53b5-41d3-b97c-432c62784e28 1 637 1019 28 20 652.5 1029 If true, show all poses overlaid (ghost mode). 0ae93a16-f9aa-480d-a21b-3d123d8df2c9 Show All All false 0 637 1039 28 20 652.5 1049 1 1 {0} false Show 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.) a8bdf60e-8e08-4267-b4ce-754159670bc5 Real Meshes Real false 0 637 1059 28 20 652.5 1069 1 1 {0} true Optional — defaults to Lite 6. Wire a Robot component (UFactory > Utilities) to use another model. 29901a06-b91a-4a80-997e-21e26dfc0eff Robot R true 0 637 1079 28 20 652.5 1089 Optional 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. 3e613d3b-73ae-4289-83f6-071363a6ddc3 Time Tm true 0 637 1099 28 20 652.5 1109 Overlay wireframe edges on the real meshes. Off = clean shaded view (joints separated by colour); on = adds edge lines (more technical / busier). c479c34f-d462-43c2-9aa1-615dfe7ad19d Edges E true 0 637 1119 28 20 652.5 1129 1 1 {0} false 1 Optional 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. 4d23685c-24df-4495-99e2-e1b61618a322 Tool Tl true 4d533d3f-a996-4e6e-9ca1-2ba2a9c6c63e 1 637 1139 28 20 652.5 1149 Draw 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. 32c1b3a2-ee8c-45e4-85e6-86bffbb1ea4b Trail Tr true 0 637 1159 28 20 652.5 1169 1 1 {0} false When Trail is on: draw travel-direction arrows on each move. Off by default (busy on dense paths). 6e8c0c60-d46c-4ac8-bac9-07f0de0a5a6d Trail Arrows Ar true 0 637 1179 28 20 652.5 1189 1 1 {0} false When Trail is on: draw the tool plane (XYZ axes) at each target. Off by default. 965078bc-32c9-4356-b2b7-6bdd3c370926 Trail Frames Fr true 0 637 1199 28 20 652.5 1209 1 1 {0} false 1 Optional 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. 164744f4-d015-4701-89c5-25e9ee4435c5 Payload Pay true 69cbfb89-ea33-41ad-8e1d-a8d645ff4bb9 1 637 1219 28 20 652.5 1229 Force 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. a73224e6-fd15-46f6-bd60-5e0bb5a8d668 Hold Payload Hld true 0 637 1239 28 20 652.5 1249 1 1 {0} false 1 Mesh per link, transformed to the current pose. f59f3056-c6d3-4baf-aa2f-c852254a9f51 Robot Meshes M false 0 695 1019 29 34 709.5 1036.143 Tool flange plane at the last pose. b0221d13-7787-439c-8356-92bab55b535b TCP TCP false 0 695 1053 29 34 709.5 1070.429 1 Three colored line segments at the TCP plane (X=50mm red, Y=50mm green, Z=50mm blue) for orientation visualization. 44451071-4b1f-4952-95a1-b1d34bd499df TCP Axes Ax false 0 695 1087 29 34 709.5 1104.714 Reachability / limit status. 03eaf9c2-166c-40b8-8ae2-4c41d681c059 Status S false 0 695 1121 29 35 709.5 1139 1 Input target list, passed through. Fork into Analysis or other downstream consumers without re-merging from the source. 8d4c09f7-a330-466a-a8f0-fa25d5bdc4d1 Targets T false 0 695 1156 29 34 709.5 1173.286 The 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. 36a86096-5fea-4360-8c5b-b64e49a802cf Current Target Tc false 0 695 1190 29 34 709.5 1207.571 The 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. a6419ff9-4a16-4b68-a00d-416b26474d25 Trail Tr false 0 695 1224 29 35 709.5 1241.857 b6236720-8d88-4289-93c3-ac4c99f9b97b Relay 2 A wire relay object 21dd8a10-516e-44e2-a1a1-d380dfa34800 Relay Payload false f2a05f4d-8dea-4de7-87a1-caacc1391cf3 1 4020 865 58 16 4049 873 12af9e10-3b04-4c8d-9a18-771c2a31b003 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 Stage Visualize the robot, scrub the toolpath, see per-joint plots. Double-click for the Stage form. Outputs link meshes, TCP, and a passthrough Targets list. f35b0b1e-a4eb-4a81-9e45-3304ecaeb0ac Stage Stage 4654 641 107 244 4715 763 1 List of RobotTargets to visualize. Uses the LAST one. 437cb155-4077-4efb-a564-7241958fa480 1 Targets T true 0e386e6f-4511-47f3-9897-ac6dfff4b3fc 1 4656 643 44 20 4687.5 653 If true, show all poses overlaid (ghost mode). 5661fc6d-5b41-4185-8bb1-e53832d3ee48 Show All All false 0 4656 663 44 20 4687.5 673 1 1 {0} false Show 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.) d471b76b-1cc5-4e6a-8a75-e7ab423ddd7c Real Meshes Real false 0 4656 683 44 20 4687.5 693 1 1 {0} true Optional, defaults to Lite 6. Wire a Robot component (UFactory > Utilities) to use another model. 70421dc2-7341-4228-8b9a-8d2b843a7556 Robot R true 0 4656 703 44 20 4687.5 713 Optional 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. c7ccee66-400f-4a4c-8b3f-e7cc867cc318 Time Tm true 779febc8-7994-4681-bce9-43328a27c74a 1 4656 723 44 20 4687.5 733 Overlay wireframe edges on the real meshes. Off = clean shaded view (joints separated by colour); on = adds edge lines (more technical / busier). 7366b62b-5666-44ca-9580-7771a041c9ba Edges E true 0 4656 743 44 20 4687.5 753 1 1 {0} false 1 Optional 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. 7dc601ae-2ef1-48ae-b954-db29cb6b37c0 Tool Tl true f95281ea-b583-45d7-a69e-03f802374e91 1 4656 763 44 20 4687.5 773 Draw 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. 18358ec9-be81-4143-a5d7-f1f33ec6926c Trail Tr true 0 4656 783 44 20 4687.5 793 1 1 {0} true When Trail is on: draw travel-direction arrows on each move. Off by default (busy on dense paths). 3297fd61-531c-4b6d-a2fd-3967c56578c4 Trail Arrows Ar true 0 4656 803 44 20 4687.5 813 1 1 {0} false When Trail is on: draw the tool plane (XYZ axes) at each target. Off by default. 72ca0cf2-007b-4b12-bb17-74dc933b897c Trail Frames Fr true 0 4656 823 44 20 4687.5 833 1 1 {0} true 1 Optional 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. 361e34e6-68fb-4d9c-8346-57ed2dce82d0 Payload Pay true 21dd8a10-516e-44e2-a1a1-d380dfa34800 1 4656 843 44 20 4687.5 853 Force 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. 672ac578-0ccd-4977-9d22-122beef9dfbb Hold Payload Hld true 0 4656 863 44 20 4687.5 873 1 1 {0} false 1 Mesh per link, transformed to the current pose. 53c9d29e-78ea-44c7-af83-eb3d61331f27 Robot Meshes M false 0 4730 643 29 34 4744.5 660.1429 Tool flange plane at the last pose. c751267e-6e4d-4360-a03f-bf372a041033 TCP TCP false 0 4730 677 29 34 4744.5 694.4286 1 Three colored line segments at the TCP plane (X=50mm red, Y=50mm green, Z=50mm blue) for orientation visualization. b541813b-b22f-4a18-a11c-ecceb62b4489 TCP Axes Ax false 0 4730 711 29 34 4744.5 728.7143 Reachability / limit status. 9cfeb913-75ea-4a78-afb1-1c3e2f216c05 Status S false 0 4730 745 29 35 4744.5 763 1 Input target list, passed through. Fork into Analysis or other downstream consumers without re-merging from the source. 14500e67-6356-4bf9-9165-5abe4ae7012f Targets T false 0 4730 780 29 34 4744.5 797.2857 The 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. 7b773aaa-44aa-4775-bc5c-6c67e4db5383 Current Target Tc false 0 4730 814 29 34 4744.5 831.5715 The 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. 48df9aaa-af2d-43af-902a-d9788f2d2d54 Trail Tr false 0 4730 848 29 35 4744.5 865.8572 12af9e10-3b04-4c8d-9a18-771c2a31b091 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 Approach / Retract Insert LIN approach/retract moves at the path ends. Direction selects the offset source: Global (project onto a safe plane), Tool axis (along each target's local tool axis), or Path tangent (along the toolpath direction). Tool axis 2f76f3df-658f-4134-87c6-4f972158f219 Approach / Retract AppRet 1264 459 102 144 1333 531 1 List of RobotTarget. a6b610bb-8382-4bfe-a454-99751fe9e790 Targets T false true 9b957a1b-fed3-4100-aa27-342f8d24e109 1 1266 461 52 20 1301.5 471 RIGHT-CLICK the component to pick the direction, shown on its face: Global (project onto the Safe Plane), Tool axis (along each target's plane normal), or Path tangent (along the toolpath). (Advanced: wire the text, or 0=Global, 1=Tool axis, 2=Path tangent; wired overrides.) efd5b296-dc60-41e7-b9f9-576009225ff2 Direction Mode true 0 1266 481 52 20 1301.5 491 1 1 {0} false Tool axis Lead-in / lead-out distance in mm (wire your slider HERE, e.g. 200). Used by "Tool axis" and "Path tangent" modes. Default 25 mm. Ignored in "Global" mode (the Safe Plane defines the height). bfd9bf0b-ef16-4bac-ba12-c7d81e4e3776 Distance Dist true b12b713d-f780-4f73-84d6-a276a0c01eba 1 1266 501 52 20 1301.5 511 1 1 {0} 25 Insert approach LIN before first Cartesian target. 92b1a932-2cd3-489a-874e-7bc709cc5cd1 Approach A true 0 1266 521 52 20 1301.5 531 1 1 {0} true Append retract LIN after last Cartesian target. bccdc166-aa4b-4ac6-9811-e7a797fca8fb Retract R true 0 1266 541 52 20 1301.5 551 1 1 {0} true "Global" mode only: plane the TCP origin is projected onto for approach/retract. Default WorldXY at Z=200mm. Ignored in the other modes. 8a83c2c9-d130-46e7-b924-97f905485225 Safe Plane Safe true 0 1266 561 52 20 1301.5 571 1 1 {0} 0 0 200 1 0 0 0 1 0 Optional, defaults to Lite 6. Wire a Robot component (UFactory > Utilities) to use another model. b5cf56ea-c3e8-4257-89fd-713ab2fe0b15 Robot Rob true 0 1266 581 52 20 1301.5 591 1 Targets with approach/retract moves inserted. 3824757e-da35-44bb-8872-0cc948679a76 Targets T false 0 1348 461 16 70 1356 496 What was inserted. a1d5de29-997b-4a5e-a220-17aa75ba260a Status S false 0 1348 531 16 70 1356 566 9b2c7e50-1a4d-4c3e-8f06-2d9a3b1c7e40 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 RPY Frame Build a coordinate frame (plane) from X/Y/Z (mm) + A/B/C (deg, UFACTORY Roll-Pitch-Yaw). Wire into a Robot's Root (mounting frame) OR a Frame's Base (work coordinate system). 9900abe6-a1df-4768-88cf-8aceb88e8726 RPY Frame RPY 4345 589 63 124 4376 651 Origin X in mm. 60123a31-9549-4290-8930-5fcb3157b03d X X false 0 4347 591 14 20 4355.5 601 1 1 {0} 0 Origin Y in mm. 92500f97-6546-45f1-87fb-f083793865f2 Y Y false 0 4347 611 14 20 4355.5 621 1 1 {0} 0 Origin Z in mm. 811ac174-123f-46f4-9d18-80ee2e36086d Z Z false 0 4347 631 14 20 4355.5 641 1 1 {0} 0 Roll in degrees (rotation about X). 400d2f10-705e-4faa-a27a-7fbcc4ea08a8 A A false 0 4347 651 14 20 4355.5 661 1 1 {0} 0 Pitch in degrees (rotation about Y). af450974-8200-4334-af4c-f00a925af447 B B false 0 4347 671 14 20 4355.5 681 1 1 {0} 1 Yaw in degrees (rotation about Z). 71bf5a6c-c675-46df-9bab-9c226e6c2208 C C false 0 4347 691 14 20 4355.5 701 1 1 {0} 0 Coordinate frame. Wire into a Robot's Root (Rt) for a mount, or a Frame's Base (B) for a work coordinate system. 7ce99fce-f4cd-45a5-90f5-13a1e2e6889c Frame F false 0 4391 591 15 120 4398.5 651 12af9e10-3b04-4c8d-9a18-771c2a31b037 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 Workspace Show how far the robot can reach: a cloud of reachable tool points plus a bounding box. Use it to check a part fits inside the working envelope before you program moves. true 34e4adaf-366f-4c2d-83f7-bd9f84ac53d8 Workspace Work 629 -119 65 64 661 -87 Samples per joint (default 8 → 512 points; 16 → 4096). 276b1697-0b82-4f29-80df-8e64c3d71f3e Samples N false 0 631 -117 15 30 640 -102 1 1 {0} 8 Optional, defaults to Lite 6. Wire a Robot component (UFactory > Utilities) to use another model. 7bfe9686-5e0f-467a-a2dc-1758dc4b9c12 Robot R true 0 631 -87 15 30 640 -72 1 Sampled TCP origin positions (mm). 5755d620-dbb0-4e98-953f-4825f572b0b5 Reachable TCP P false 0 676 -117 16 20 684 -107 Axis-aligned bounding box of the sampled cloud. a9153e93-11a5-44af-b99e-b6df0b8225ba Bounding Box B false 0 676 -97 16 20 684 -87 Sample count + bbox extents. bd773051-2b10-4d33-b9e7-3e1f894ed339 Status S false 0 676 -77 16 20 684 -67 3a6f1d20-8b4e-4a17-9c52-6e0d4b8a1f30 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 Mount Robot mounting frame from Tilt + Rotation (UFACTORY install). 0=floor, 90=wall, 180=ceiling. Orientation only — wire into a Robot's Root (Rt). 4df6a975-aafa-47c4-9ced-4206ec6a3bc2 Mount Mount 368 -93 78 57 409 -64 Tilt from upright, in degrees. 0 = floor, 90 = wall, 180 = ceiling. 3e046e66-6059-49fb-9d39-0f9d5e068540 Tilt Tilt false 0 370 -91 24 26 383.5 -77.75 1 1 {0} 0 Yaw about vertical, in degrees — which way the mounted arm faces. fa0b116e-0c0b-4ac7-9864-934aba5f848f Rotation Rot false 0 370 -65 24 27 383.5 -51.25 1 1 {0} 0 Mounting frame (orientation only, at the origin). Wire into a Robot's Root (Rt). e7760e86-675e-40ea-aaea-6c4d73435d9e Root Rt false 0 424 -91 20 53 434 -64.5 12af9e10-3b04-4c8d-9a18-771c2a31b00e 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 Frame Relocate a whole program to where your part actually sits: give the part's base plane and every target moves with it. Design once at the origin, then drop it onto the real fixture. 322471e0-b662-496c-acbc-07abe3e73f63 Frame Frame 4448 581 65 64 4479 613 1 List of RobotTarget authored in a local frame. c2d5cc46-5caa-474d-8717-e8783ccbdaed Targets T false 5546182d-83bc-4065-9c89-3eb001bcdf50 1 4450 583 14 20 4458.5 593 Where the local frame's WorldXY sits in robot base coords. Default WorldXY = pass-through. c0fe4595-e60f-4d48-98b1-224b79d3c65a Base B false 7ce99fce-f4cd-45a5-90f5-13a1e2e6889c 1 4450 603 14 20 4458.5 613 1 1 {0} 0 0 0 1 0 0 0 1 0 Optional, defaults to Lite 6. Wire a Robot component (UFactory > Utilities) to use another model. f0b0684e-1055-4e57-967b-5efe423e0f75 Robot R true 0 4450 623 14 20 4458.5 633 1 Targets with planes mapped into world and joints re-IK'd from prior joints as seed. bd8d3a3a-6c2d-42da-b312-8b8f0379494f Targets T false 0 4494 583 17 20 4502.5 593 Per-target IK status; empty if all passthrough or all succeeded. 52aa911c-e664-4770-ab4e-3f0222c0ad0a Status S false 0 4494 603 17 20 4502.5 613 Count of Cartesian targets whose IK was re-run. 4380fb26-839d-4d12-8a1b-6e0e76888374 Reseeded R false 0 4494 623 17 20 4502.5 633 12af9e10-3b04-4c8d-9a18-771c2a31b018 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 Robot Pick 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. 387615ae-6989-47b9-aa8e-65a6759472c3 Robot Robot 0 473 -117 70 84 509 -75 Optional end-effector to attach to this robot, from a Gripper / Vacuum / Custom Tool component (its Tool output). The tool then travels with the Robot everywhere: Stage draws it, Collision includes its geometry, codegen sets the TCP + payload, and Cartesian moves aim at the real tool tip. Leave empty for a bare flange. 8b991e80-6ee7-41c6-88e4-4155cafc3f2e Tool Tl true 0 475 -115 19 20 486 -105 Optional controller collision sensitivity 0 (off), 5 (most sensitive). Travels with the Robot; codegen emits arm.set_collision_sensitivity(N) in the program preamble. -1 (default) = leave the controller's own setting (emit nothing). f8dc37cc-76f2-4201-b7cf-b6d1fbd4e3db Collision Sensitivity Cs true 0 475 -95 19 20 486 -85 1 1 {0} -1 Optional robot ROOT (base) frame in world. Set it to how the arm is actually fixed, including any tilt or rotation, and the generated Python / G-code express targets in that real base frame, compensating an angled mount. Travels with the Robot. Default WorldXY (no offset). Verify on hardware at low speed before trusting it. (The Stage twin currently shows the nominal design; mount-accurate preview is a follow-up.) 81f33025-c99b-450b-b0af-5b46d802538e Root Rt true e7760e86-675e-40ea-aaea-6c4d73435d9e 1 475 -75 19 20 486 -65 1 1 {0} 0 0 0 1 0 0 0 1 0 Optional IK SEED pose: wire a Pose (joint angles) to choose the arm configuration the whole program solves in — keep the wrist (J5) off zero to avoid a wrist singularity, or pick elbow-up vs elbow-down. Or DOUBLE-CLICK this component to type the start joint angles. Travels with the Robot; every Cartesian target seeds from it. Empty = solver default. b78887b9-78fd-4624-a092-610f38ebd41c Seed Sd true 0 475 -55 19 20 486 -45 Selected robot model (carrying the attached tool, if any). Wire into the Robot input of PTP/LIN/CIR/Stage/Collision/Code, or just drop one on the canvas and every component finds it. 83db1e2d-01f6-4a8a-b727-f4e90e53c0bc Robot R false 0 524 -115 17 80 532.5 -75 59e0b89a-e487-49f8-bab8-b5bab16be14c Panel A panel for custom notes and text values bdb29e9b-ccfa-445b-b446-7be478d97e12 Panel false 0 bcaf77ac-6237-49d6-bc2f-0af4104cf15b 1 Double click to edit panel content… 4642 362 346 100 0 0 0 255;255;250;90 true true true false false true 3dfb9a77-6e05-4016-9f20-94f78607d672 Rotate 3D Rotate an object around a center point and an axis vector. 22395dcf-95f5-4d91-93d8-d73e390c7dd7 Rotate 3D Rot3D 1060 682 83 84 1108 724 Base geometry 5c683a39-23de-4fa4-8106-30f70c5b163b Geometry G true 447918ac-c112-4e87-9969-f4154dc42a1a 1 1062 684 31 20 1087 694 Rotation angle in degrees 39823218-5a04-48e6-9ea6-8673618d7304 Angle A false 8a3dcd42-00f6-40aa-84dd-4deef321a225 1 true 1062 704 31 20 1087 714 1 1 {0} 1.5707963267948966 Center of rotation 88c6de07-8192-486a-9e24-540adcf8b1a8 Center C false 64f8d9d7-583b-40b8-9c41-96a8963d99a4 1 1062 724 31 20 1087 734 1 1 {0} 0 0 0 Axis of rotation 14c953bc-e42f-4a9a-a2b8-f6aea2036733 Axis X false c6c6cca9-e1be-4aeb-b60c-ea1948d6dc6d 1 1062 744 31 20 1087 754 1 1 {0} 0 0 1 Rotated geometry 2564908c-5fb2-48aa-89cb-9488e567f167 Geometry G false 0 1123 684 18 40 1132 704 Transformation data d939fa79-1e9b-4f6b-aa98-8b9d9bc44b56 Transform X false 0 1123 724 18 40 1132 744 b6236720-8d88-4289-93c3-ac4c99f9b97b Relay 2 A wire relay object 69cbfb89-ea33-41ad-8e1d-a8d645ff4bb9 Relay false f2a05f4d-8dea-4de7-87a1-caacc1391cf3 1 487 595 40 16 507 603 3cd2949b-4ea8-4ffb-a70c-5c380f9f46ea Deconstruct Plane Deconstruct a plane into its component parts. be67efdc-3806-460c-8c10-de8a71cfc5a8 Deconstruct Plane DePlane 629 542 65 84 659 584 Plane to deconstruct ca6d54a8-b26b-41ae-9c15-590da6c0a8d5 Plane P false 323954c8-719d-4f23-9a6c-56d3b13e29ad 1 631 544 13 80 639 584 1 1 {0} 0 0 0 1 0 0 0 1 0 Origin point 64f8d9d7-583b-40b8-9c41-96a8963d99a4 Origin O false 0 674 544 18 20 683 554 X-Axis vector 73c5f444-b36a-4d49-8823-7af825aa054f X-Axis X false 0 674 564 18 20 683 574 Y-Axis vector ce72204f-ef60-47b5-aa1c-caa6281b8dfc Y-Axis Y false 0 674 584 18 20 683 594 Z-Axis vector f061e401-ea17-40eb-a8f6-82106ae6803b Z-Axis Z false 0 674 604 18 20 683 614 57da07bd-ecab-415d-9d86-af36d7073abc Number Slider Numeric slider for single values 8a3dcd42-00f6-40aa-84dd-4deef321a225 Number Slider false 0 647 702 161 20 647.6912 702.5061 3 1 1 10 1 0 1 59e0b89a-e487-49f8-bab8-b5bab16be14c Panel A panel for custom notes and text values bf4c9be1-4c11-4246-92d5-4f68a0a83843 Panel false 0 2564908c-5fb2-48aa-89cb-9488e567f167 1 Double click to edit panel content… 860 368 160 100 0 0 0 860.2529 368.9944 255;255;250;90 true true true false false true d5967b9f-e8ee-436b-a8ad-29fdcecf32d5 Curve Contains a collection of generic curves 0aabbda3-7b82-4e8f-847c-7e08d90ce3be Curve Crv false 46f26db9-7674-4983-ba35-77b8645cd230 1 5146 1111 50 20 5171.4 1121.15 f6f14b09-6497-4564-8403-09e4eb5a6b82 Rotate Plane Perform plane rotation around plane z-axis e219ce0a-1d5c-4f6a-817b-d94a6cb94e12 Rotate Plane PRot 862 630 80 45 909 653 Plane to rotate 0d8fc8de-08dd-4c9a-927a-f24570fe3cd1 Plane P false 323954c8-719d-4f23-9a6c-56d3b13e29ad 1 864 632 30 20 888.5 642.25 Rotation (counter clockwise) around plane z-axis in degrees 821a186e-ee36-4014-9a82-1120fac960e3 Angle A false 0afd2d7c-ec72-49d9-806c-77cfa6f8b4e2 1 true 864 652 30 21 888.5 662.75 Rotated plane 447918ac-c112-4e87-9969-f4154dc42a1a Plane P false 0 924 632 16 41 932 652.5 57da07bd-ecab-415d-9d86-af36d7073abc Number Slider Numeric slider for single values 0afd2d7c-ec72-49d9-806c-77cfa6f8b4e2 Number Slider false 0 679 652 161 20 679.29 652.293 3 1 1 360 0 0 33 f6f14b09-6497-4564-8403-09e4eb5a6b82 Rotate Plane Perform plane rotation around plane z-axis 076a6253-717a-4bac-907a-6d35bb735da5 Rotate Plane PRot 2793 364 80 45 2840 387 Plane to rotate 08355c24-0175-435a-a3b0-4e8998b2322a Plane P false b238c254-9e67-4685-9915-d845e4739127 1 2795 366 30 20 2819.5 376.25 Rotation (counter clockwise) around plane z-axis in degrees af65b537-c442-4a1f-8c8b-c7fd858fa52e Angle A false bde31054-852b-47f3-965f-3e8ecc55c25e 1 true 2795 386 30 21 2819.5 396.75 Rotated plane 38a6dd0e-2f79-43b0-8838-dc1e8fef6e98 Plane P false 0 2855 366 16 41 2863 386.5 57da07bd-ecab-415d-9d86-af36d7073abc Number Slider Numeric slider for single values bde31054-852b-47f3-965f-3e8ecc55c25e Number Slider false 0 2603 374 161 20 2603.45 374.2 3 1 1 360 0 0 6 12af9e10-3b04-4c8d-9a18-771c2a31b005 3f8c1a40-9e0d-4f3c-9c00-4d2f5a1b6c00 LIN Straight-line move to a target plane: the tool travels in a straight line in space (Cartesian). Use for approaches, retracts, and any path that must stay straight, e.g. inserting a part or following an edge. 4800117e-1810-4701-aaea-982fea625d59 LIN LIN 3179 203 64 64 3210 235 Target TCP plane in robot base frame. 30811933-cff7-4792-9825-fd5a1c0f7650 Target P false 97a11714-02a9-4516-81c4-ec24796af0e2 1 3181 205 14 20 3189.5 215 Speed percent (1-100). d72a7d7f-4792-4504-a55e-9103786550f6 Speed S false 0 3181 225 14 20 3189.5 235 1 1 {0} 50 Optional, defaults to Lite 6. Wire a Robot component (UFactory > Utilities) to use another model. 72b8563f-cc48-4fbe-a9d9-878268b323ba Robot R true 0 3181 245 14 20 3189.5 255 robot target (LIN, with Cartesian plane). 319bdfb8-1693-4764-8cca-7d7aed68867c Target T false 0 3225 205 16 20 3233 215 Resolved joint angles in degrees (for simulation only). ca562b99-4517-4a9a-a1f5-181fb49085c4 Joints J false 0 3225 225 16 20 3233 235 IK status / warning. 434f69d0-6747-4454-89d8-7ef0a469506f Status S false 0 3225 245 16 20 3233 255 d3d195ea-2d59-4ffa-90b1-8b7ff3369f69 Unit Y Unit vector parallel to the world {y} axis. 622a5f17-d0e3-405b-b2d8-175e8b8d9561 Unit Y Y 814 744 63 28 843 758 Unit multiplication 4ad50455-4f84-4675-95c3-780dafbcf539 Factor F false 0 816 746 12 24 823.5 758 1 1 {0} 1 World {y} vector 520155fb-8789-42de-be37-134a714e113c Unit vector V false 0 858 746 17 24 866.5 758 a3371040-e552-4bc8-b0ff-10a840258e88 Negative Compute the negative of a value. 267649de-b9d9-4d72-83c0-907de656cbd2 Negative Neg 944 734 61 41 973 755 Input value 18274452-1e95-4ca0-baf6-7e133f9bade6 Value x false 520155fb-8789-42de-be37-134a714e113c 1 946 736 12 37 953.5 754.5 Output value c6c6cca9-e1be-4aeb-b60c-ea1948d6dc6d Result y false 0 988 736 15 37 995.5 754.5 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