3D scene widgets

Widgets are floating panels you overlay on the 3D scene so you can drive and read a machine without leaving the 3D view. Each widget is draggable and resizable. Two kinds exist: control widgets, which you open from the toolbar for any resource on the machine, and the frame POV widget, which you open from the Details panel.

Open a control widget

Click Control widgets (joystick icon) in the top-right strip of the scene toolbar. A panel titled Control widgets opens, listing the machine’s resources grouped by type: a heading per resource type (Arm, Camera, Motor, and so on), and under it one row per resource of that type, each showing the resource’s name and how many of its controls are currently open, for example 1/2.

Click a resource row to expand it, then toggle on a control. Each control you turn on opens as its own panel over the viewport, labeled with the resource’s API and titled <resource-name> · <control>. Toggle it off to close the panel. If the machine has no resources with controls, the panel reads “No widgets available for this machine.”

Which widgets you have open, and where you dragged and sized their panels, are remembered per machine part, so the layout you build survives a reload.

What each resource offers

Control widgets come from the same library of resource controls as the machine’s CONTROL tab, so what a resource offers depends on its API:

• Resources whose API is broken into individual controls list one toggle per control, named for the API method it drives. An arm, for example, lists MoveToJointPositions, MoveToPosition, Quick move, GetJointPositions, IsMoving, and DoCommand.
• Resources without individual controls list a single Overview toggle that opens the resource’s full control card.
• The motion service lists a Move control: the frame-aware move panel that commands the machine to move a selected frame, the same one the scene’s move mode uses. The CONTROL tab omits the motion service, so this control is specific to the scene.
• Every resource that supports DoCommand also lists a DoCommand control: a JSON editor for sending a raw command and reading the response. Generic components and services, whose only API is DoCommand, list that one control.

Resources with nothing to drive do not appear at all: the data manager, the sensors service, the shell service, and internal resources are left out of the list.

Read an arm’s joint positions

To watch an arm’s joint angles beside the 3D view, expand the arm in the Control widgets panel and toggle on GetJointPositions. The panel lists each joint by index with its current position and updates on its own as the arm moves:

A button in the panel switches the readout between degrees and radians, and a second button copies the current values to the clipboard.

Frame POV

The frame POV widget renders the scene from a selected frame’s perspective, so you can check what a camera’s view covers, or what an end effector approaches, from its configured pose. Select an entity in the World panel, then click the camera icon (View from this frame) in the Details panel. A panel titled POV: <frame-name> opens for that frame; open one per frame you want to watch.

Each POV panel has its own camera controls: a button in the top-right corner switches the view between perspective and orthographic, and in orthographic mode a zoom slider along the bottom sets the magnification.