25.2
Ghost teaching
Setup

Set up your scene

To get started with ghost teaching you need to configure the desired tools, place them within the workspace of the robot and .

Configure tool

After having added a tool to the scene, you need to configure the tool settings.

  1. Name the tool's parent node tool_<tool_name>, e.g. tool_suction_gripper.
  2. Check the Rigid Body Enabled checkbox to ensure that the tool has a rigid body.
Ridid Body Structure
  1. Add an Xform to the rigid body node that is placed at the TCPs position.
  2. Name the TCP Xform tcp_<tool_name>, e.g. tcp_suction
TCP XForm

Multiple TCPs

TCP Xform in multiple TCP tool
TCP Xform in multiple TCP tool

You can also add tools with multiple TCPs, e.g. for a tool that has two tips. The configuration steps are the same as for tools with one TCP, the structure is nested.

Add the tool

  1. Name the tool's parent node tool_<tool_name>, e.g. tool_suction_gripper.
  2. Check the Rigid Body Enabled checkbox to ensure that the tool has a rigid body.
Rigid body structure for single TCP tool

Configure first TCP (lighttip)

  1. Add the first Xform to the rigid body node that is placed at the respective TCPs position.
  2. Name the TCP Xform tcp_<tool_name>, e.g. tcp_suction.
Rigid body structure in multiple TCP tool

Configure second TCP (ringlight)

  1. Add second Xform to the rigid body node that is placed at the respective TCPs position.
  2. Name the TCP Xform tcp_<tool_name>_2, e.g. tcp_suction.
  3. Repeat the steps for each additional TCP.
Rigid body structure in multiple TCP tool

Place tool within workspace

Now it's time to place the tool within the workspace of the robot.

Copy the tool node and paste it into the workspace node of the robot.

Workspace structure

Configure TCP

Each TCP is unique and has to be configured to match the virtual robot's TCP. Using the NOVA API, you can add the TCP configuration for the specific motion group.

  1. Open the NOVA API and navigate to Virtual Robot Setup and then Add TCP.
  2. Add your TCP configuration in JSON format for desired motion group, a.g. a fanuc_m10id12.

Congrats! You've successfully set up your scene for ghost teaching.

Use ghost teaching
Ghost teachingUsage