Monitor mode

Monitor mode shows your machine as it is: its frames, its configured geometry, and, when the machine is online, live poses, point clouds, and custom visuals. Nothing in Monitor mode changes your machine or its configuration, so it’s the safe place to look around.

Live and configured state

What the scene shows depends on whether the machine is online:

  • Online: component poses, point clouds, and custom visuals update as the machine runs.
  • Offline: the scene shows only the saved configuration, with every component at its configured pose. Point clouds and custom visuals are absent.

The scene fetches each kind of live data at its own refresh rate, set in Settings: pose updates under Frames, point clouds under Pointclouds, and vision service results under Vision. A data stream set to off never updates, so check these rates when part of the scene seems frozen. For other reasons a scene can look wrong, see Troubleshoot the 3D scene.

Read a frame’s pose

Select any entity, in the viewport or in the World panel, to see its pose in the Details panel: its world position and world orientation, its parent frame, and its local position and local orientation relative to that parent. In Monitor mode these fields are read-only. To change them, use Build mode.

To read where an arm’s end effector is, expand the arm in the World panel and select its last link or the frame attached to it, such as a gripper. For the meaning of each field, see 3D scene controls and settings.

What’s next