25.2
Ghost teaching
Usage

Use ghost objects

Connect the NVIDIA Isaac Sim™ scene to Wandelbots NOVA via Robot Pad if you haven't already and start using ghost objects to teach your robot.

Tool poses can be tricky to teach, especially when the robot is not in the correct position. Ghost objects help you to teach the robot in a more intuitive way. You can create ghost objects in the scene and move them to the desired position. The robot can then be moved to the ghost object position, enabling you to copy and paste the poses into Wandelscript.

Connect the desired robots to the scene with Connect all.

Create your first ghost object

After successful connection to the scene, create your first ghost object.

  1. Open the pose list.
  2. Switch to the Ghost objects tab.
  3. Select the desired tool from the dropdown list.
  4. Click on Create ghost object to create a ghost object at the current position of the tool. The ghost object will appear in the scene.

Place ghost objects

  1. Drag and drop the ghost object within your scene.
  2. After each movement, click Move to in Robot Pad to move the robot to this pose.
  3. Once you have reached the desired pose, click on + next to the ghost object entry to save the pose.

Each saved pose equals a ghost object in the scene that can be dragged and dropped to update the pose.

If the robot does not execute the movement, ensure that the used TCP configuration is correct.

Update poses

Update poses by moving the respective ghost object to the desired pose.

  1. Select the saved pose from the pose list.
  2. Drag and drop the respective ghost object to the desired pose. The pose list will automatically update the position of the ghost objects.
  3. Click Move to in Robot Pad to move the robot to this pose.

Workspace limitations

If you drag and drop a ghost object outside the workspace, a warning will be displayed in the pose entry.

Pose menu

Each pose has a menu that allows you to copy the pose to your clipboard, duplicate the pose in the pose list, or delete the pose.

Use poses in Wandelscript

  1. In the pose menu, click Copy to copy the pose data to your clipboard.
  2. Paste the copied pose in Wandelscript. Poses copied into Wandelscript will not update with the pose list. You have to update the copied poses manually.

Happy ghost teaching! 👻

SetupIntroduction