User guide / Scene (physics) /
Diagnostics and charts
The Diagnostics tab shows what each joint of each robot is doing while the scene plays.
Joint readings
Robots are listed by name, each with its joint count; two copies of the same robot are numbered, such as UR5e (1) and UR5e (2). Click a robot to open its joints, and a joint to open its readings. A joint without an actuator is marked passive; it shows only its angle and speed.
| Reading | Shows |
|---|---|
| target | The angle (or position) the controller asks for |
| actual | The angle the joint is at |
| error | Target minus actual |
| qvel | How fast the joint moves |
| force | The torque (or force) the actuator applies |
Angles are in degrees and slides in millimetres; force is in N·m for turning joints and N for sliding ones. Each bar turns amber, then red, as the value grows, and a thin mark shows the highest value so far. Which robots and joints are open is kept when you switch tabs.
Charts
The red record button next to a reading plots it on the top chart, in its own colour; the stop button in the same place takes it off again. A reading keeps its colour on every chart it appears on.
- New chart adds an empty chart on top and pushes the others down. The record buttons always fill the top chart, which has a highlighted border. A new chart starts from the moment it was made.
- × on a chart deletes it, as long as more than one is left.
- Clear empties all charts of their recorded values; what each chart records stays.
Charts fill only while the scene plays. The axis shows the value range and the time span.
Which readings each chart records is saved with the scene, so the charts come back on the next open; the recorded values are not saved. In a scene you can only view, the charts can be changed but the changes are not saved.
On a phone Diagnostics opens as a half sheet, with the charts above the readings.