How can I select a routine of a component that has multiple executors? It seems that you can only teach one executor.
How can I select a routine of a component that has multiple executors? It seems that you can only teach one executor.
Closest executor in the kinematic chain is selected when you do a selection on the manipulator geometry. Make sure the executors are not on the same level in the chain to make the executor selection easy on the program tab.
(see attachment)