# Edit and check a target

Edit a target with the map or position fields without a camera.

Canonical: https://roboty.dev/guide/use/edit-a-target
Content revision: 15
Platforms: iphone, mac, browser, agent

## Choose the right workspace

The instructions below describe the connected-Mac route. This device keeps its own goals and results. Device-local simulation is offered only when the selected profile is qualified. Switching workspaces does not move a draft.

## When to use it

Change where the simulated tool should reach. The camera-free map and height controls work without a Mac or AR tracking.

## Steps

1. For Reach, click, tap or drag the destination marker. Forward and left are relative to the robot. On iPhone, Height + and − beside the map change height by 2 cm. On Mac, the Goal inspector shows editable Forward (X), Left (Y) and Height (Z) fields in centimetres. Each Mac + or − changes that value by 1 cm. Editing never moves the robot. Undo and Redo sit beside Destination on Mac. On iPhone, use Undo target edit.
2. On Mac, choose the task once in Goal. For a waypoint, choose Waypoint first or Final target above the map. The position fields and map edit that same selection. For a cube task, choose Cube start or Tray destination. Their heights are fixed for the supported scene. If a retained height needs correction, choose Use fixed scene height. Hide inspector gives the diagram more space. Show inspector returns the fields. In a narrow window, scroll below the map to reach them.
3. Direct position fields use centimetres across the native app. X is forward, Y is left and Z is up in the declared robot frame. Negative X is backward and negative Y is right. Saved geometry and exact machine-readable task data remain in metres. Unfinished text stays visible and must be corrected before visual editing or saving. On iPhone, open Precise coordinates for direct entry.
4. On Mac, click the experiment name in the window header to rename it. The task, SO-101 arm and simulation location stay visible as context. Save remains in the toolbar, with saved, changed, pending or blocked status beside it. If it says Open workspace to save, choose Open workspace in the action bar. A retained draft is separate from a confirmed saved version. Save does not start an attempt.
5. On Mac, choose Preview goal after saving. On iPhone, connect to the selected Mac and choose Prepare simulation. Inspect the candidate and reachability message. Only an explicit, available Start action and its confirmation start an attempt.

## What to expect

The draft stores a metric goal. Prepare simulation on iPhone and Preview goal on Mac give a candidate preview. It is not a completed attempt. Changing the inspection viewpoint or zoom does not change task geometry or prove reachability.

## If something goes wrong

- If a coordinate is invalid, finish entering a valid value before preparing, previewing or starting the goal. If the Mac reports an unreachable target, adjust the goal and check again.
- If editing is disabled while viewing a workspace result, choose Edit goal. In History, return to the workspace first. If the draft’s capability is unavailable, its contents are retained. Reconnect or return to a supported task.
- If the Mac is unavailable, keep editing locally. Numeric editing does not require camera permission or physical calibration.

## Undo on Mac

Use Edit → Undo or Redo to restore a goal change. While typing in a text field, those commands apply to the text you are editing. Renaming an experiment keeps its goal-change history.

## Goal meaning

The Reach goal describes the tool point in the declared robot frame. A waypoint is an ordered position constraint, not collision avoidance. Object and composition support is limited to the controls and bounds supplied by that task. Moving a diagram never proves physical motion or task success.

## Lesson 1: define a task

### Example

Imagine a robot arm fixed to a table. Its tip is the point we want to move. All three exercises use this same arm. The numbers and results are fictional teaching examples, not evidence from a robot run.

We measure from a mark at the arm’s base. Forward is X, left is Y and up is Z. This fixed measuring system is called a **coordinate frame**. The base mark is its **origin**, where X, Y and Z are zero.

Our target is 20 cm forward, directly in line with the base and 15 cm above it. We will call the task successful if the tip ends within 1 cm of that target. This allowed distance is the **tolerance**.

### Your turn

Write your answer on paper or think it through before checking:

1. Complete the target in centimetres: X = \_\_, Y = \_\_, Z = \_\_.
2. The saved task uses metres. Choose the correct saved target: **A:** (20, 0, 15) m or **B:** (0.20, 0, 0.15) m. Remember: 100 cm = 1 m.
3. The tip stops 2 cm from the target. Does it meet our success rule?
4. You rotate your view of the table. Do the target’s coordinates change if our measuring system stays fixed?

### Check your reasoning

1. **X = 20 cm, Y = 0 cm, Z = 15 cm.** Y is zero because the target is neither left nor right of the base.
2. **B: (0.20, 0, 0.15) m.** Divide centimetres by 100. Option A would ask for a point 20 metres forward and 15 metres up.
3. **No.** An error of 2 cm is larger than the allowed 1 cm. We need a measured final position to check this rule. A target marker alone cannot show success.
4. **No.** Rotating the view changes how we see the table, not our fixed measuring system or target.

You have specified where the tip should go and how you will judge the result. In the next exercise, distinguish that request from a prediction and a measurement.

## From this written example to a live task

The fictional 1 cm final-position rule above is a teaching example. A live task has its own displayed success criterion. Roboty’s supported Reach criterion requires the tool point within 12 mm for 250 continuous simulated milliseconds. Read the rule shown with the selected task before comparing an actual result.

Content ID: targets
Compiled digest: 45924d1c6f479f62b07c56d076efb274871dd6550e537101cd3873bc93a96143
Language: en