Sidebar¶
The sidebar provides detailed editing controls for path elements and constraints. It's divided into several panels for different functions.
Path Elements Panel¶
The top section lists all elements in your path in order.
Element List¶
Each element shows:
- Type icon (colored indicator matching canvas colors)
- Element type (Waypoint, Translation, Rotation)
- Key properties (coordinates or rotation value)
- ✕ button to delete the element
Adding Elements¶
Click the "Add element" button to insert a new element after the currently selected one.
If no element is selected, the new element is added at the end of the path.
Reordering Elements¶
Drag elements in the list to reorder them. The path will update immediately on the canvas.
Note
Remember that RotationTargets are positioned relative to the segment they're on. Reordering may change which segment a RotationTarget belongs to.
Removing Elements¶
Click the ✕ button next to any element to remove it, or select it and press Delete/Backspace.
Element Properties Panel¶
When an element is selected, its properties appear in this panel.
Common Properties¶
| Property | Applies To | Description |
|---|---|---|
| Type | All | Dropdown to convert between element types |
| Rotation (deg) | Waypoint, RotationTarget | rotation in degrees |
| Profiled Rotation | Waypoint, RotationTarget | Checkbox for rotation interpolation mode |
Translation Properties¶
For Waypoints and TranslationTargets:
| Property | Description |
|---|---|
| X (m) | X coordinate in meters |
| Y (m) | Y coordinate in meters |
| Handoff Radius (m) | Distance at which path advances to next element |
RotationTarget Properties¶
For RotationTargets specifically:
| Property | Description |
|---|---|
| t_ratio | Position along segment (0.0 to 1.0) |
Tip
You can also adjust t_ratio by dragging the RotationTarget along its segment on the canvas.
Converting Element Types¶
Use the Type dropdown to convert an element to a different type:
- Waypoint ↔ TranslationTarget: Removes or adds rotation data
- Waypoint ↔ RotationTarget: Removes or adds translation data
- TranslationTarget ↔ RotationTarget: Swaps translation for rotation
Path Constraints Panel¶
Manage velocity and acceleration constraints for your path.
Adding Constraints¶
Click "Add constraint" to create a new ranged constraint.
Constraint Types¶
Available constraint types:
- Max Velocity (m/s)
- Max Acceleration (m/s²)
- Max Rotational Velocity (deg/s)
- Max Rotational Acceleration (deg/s²)
Constraint Properties¶
Each constraint shows:
| Property | Description |
|---|---|
| Type | Dropdown to select constraint type |
| Value | The limit value |
| Range slider | Start and end ordinals (1-based) |
| ✕ button | Remove the constraint |
Range Slider¶
The range slider lets you specify which elements the constraint applies to:
- Left handle: Start ordinal (first affected element)
- Right handle: End ordinal (last affected element)
Visual Feedback
Click on the slider to see a green overlay on the canvas highlighting the affected path segments.
Removing Constraints¶
Click the ⊖ button next to any constraint to remove it.