# Program Rosie from your PC. > Open source offline programming for Rosie robots, part of RosieOS under Apache 2.0: teach waypoints and build any program from MoveJ, MoveL and MoveC moves, dwells, I/O and Home, plan and verify it against the cell, simulate the exact trajectory and run it on the robot. For welding, pick the welds from the part's STEP file. Runs in your browser. URL: https://advancedmetalresearch.com/offline-programming Offline programming Part of RosieOS · Open source Apache 2.0 Open source · Apache 2.0 · RosieOS Open source offline programming for Rosie, part of RosieOS under Apache 2.0. Teach waypoints and build any program you like from MoveJ, MoveL and MoveC moves, dwells, I/O and Home, row by row in one spreadsheet. Simulate it, then run it on the cell or the pendant. For welding, pick the welds straight from the part's CAD. [Get started](https://advancedmetalresearch.com/docs/get-started/quickstart) [Source on GitHub](https://github.com/advanced-metal-research/RosieOS) *Figure: The RosieOS offline programming workstation: the Rosie 1400 cell in 3D with a welded hitch (tube, upright and gussets on a base plate) on the positioner table, its eight welds listed, the J6 and TCP camera views, and a server-validated plan replaying in simulation.* Licence · Apache 2.0 · Source on GitHub Runs in · Your browser · Linux or WSL2 server Any task · Teach MoveJ MoveL MoveC ## Any task, not just welding. A program is a line of moves and events. Teach the waypoints, choose how the robot gets to each one, and plan it against the cell. Welding from CAD is one application; handling, tending, palletizing, assembly, dispensing and coating are programs built from the same moves. ### Taught moves, no CAD needed. - Record a waypoint from the jogged robot or the preview robot. Reteach replaces it, and Record via adds the pose a circular move passes through. - Make each waypoint a MoveJ, MoveL or MoveC, with its own joint speed and acceleration limits and, for MoveL and MoveC, a constant TCP speed. - Add dwell, I/O and Home nodes between moves, and mix taught moves with welds in one program. - Name every row, and edit its pose in millimetres and degrees or its joint angles. [Teach waypoints and moves](https://advancedmetalresearch.com/docs/guides/teach-waypoints) *Figure: The offline programming spreadsheet with a taught pick and place program: a MoveJ to the infeed approach, MoveL pick and retract, a dwell, a MoveC transfer to the outfeed, MoveL place and retract, a dwell and Home, each row planned, with the preview paused at the pick.* ### Planned against the cell. Plan times every move to the robot's joint limits and checks it against the cell, your stands and fixtures, with the same verifier the welds pass. Simulate replays the planned trajectory with the tool path drawn in the cell. On the cell, Go to plan start, Load and Play. *Figure: The offline programming workstation with the taught pick and place program planned: Rosie 1400 in the preview at the pick over the infeed stand, the transfer arc to the outfeed stand drawn in the cell.* 1. *Figure: Line drawing of Rosie 1400 picking a part from one stand and placing it on another.* ### Pick and place A MoveJ to the approach, MoveL down and back up, a MoveC across to the next station. 2. *Figure: Line drawing of Rosie 1400 tending a CNC machine: it loads a blank into the vise through the open door and unloads the finished part.* ### Machine tending Taught moves through the machine door to the vise and back out, then Home. 3. *Figure: Line drawing of Rosie 1400 with a vacuum gripper, stacking cartons from a conveyor onto a pallet in interlocked layers.* ### Palletizing A taught place for every position in the layer, each a MoveL down from its approach. 4. *Figure: Line drawing of Rosie 1400 with a nutrunner, running down the six cover bolts of a gearbox housing in a star pattern.* ### Assembly A MoveL to each bolt in a star pattern, a dwell, and a MoveL back out. 5. *Figure: Line drawing of Rosie 1400 with a dispensing valve, laying a continuous sealant bead around the flange of a panel.* ### Dispensing MoveL along the straights and MoveC round the corners, at a constant TCP speed. 6. *Figure: Line drawing of Rosie 1400 with a spray gun, coating a vertical panel in overlapping horizontal passes.* ### Coating Overlapping MoveL passes across the panel at a constant TCP speed. Process tooling for each job is quoted per application. [Processes on Rosie](https://advancedmetalresearch.com/rosie#processes) Welding from CAD · STEP Welds Plan Simulate ## From a STEP file to a verified weld program. The whole job happens at your desk. The cell keeps welding while you program the next part. Nothing reaches the robot until the plan has passed its checks, and you can watch it run in simulation first. 1. **01** ### Import and place Import one or more STEP parts, each with its own placement and welds. Add fixtures and stands from STEP files, then drag the part into place on the cell. 2. **02** ### Pick the welds Click an edge of the part. OLP matches it to a detected seam and searches the torch angles in both directions. Accept the weld, or trim it to the stretch the torch can reach. 3. **03** ### Plan and verify The weld planner plans every weld and the moves between them. The verifier checks each segment against the cell, the part, your fixtures and the joint limits before a trajectory is written. 4. **04** ### Simulate and run Replay the exact trajectory the cell would play, from 1× to 16×. Then home, arm, load and play it on the cell, with a dry run first if you want one. The program · Welds Moves Dwells I/O ## Every move is a row you can read and edit. The program is a spreadsheet of nodes: welds with their approach and retract, transits, taught moves, dwells, I/O events and Home. Open any row to edit its pose, speed and process in millimetres and degrees, with undo and redo over every change. - Teach waypoints from the live robot: MoveJ, MoveL and MoveC through a recorded via point. - Weld presets for process, speeds, electrical settings, torch angles and weave. - Validation checks in plain words above the table, before you plan. *Figure: The offline programming spreadsheet: approach, weld and transit rows of the hitch weld program with their geometry, process and status, and the simulation transport running.* ### Weld presets New welds start from a preset: process, travel, approach and retract speeds, electrical settings, work, travel and spin angles, and weave. Edit one weld or the preset every new weld uses. *Figure: The Weld presets card: GMAW process, travel, approach and retract speeds, and torch work, travel and spin angles.* Simulate and deploy · Plans Evidence Load and play ## Watch the exact trajectory before the robot moves. Simulate replays the planner's own trajectory, the same bytes the cell will play, with the TCP path drawn on the part and the J6 and TCP cameras beside it. Every plan is kept with its evidence, and a refusal names the joint, the limit or the bodies in contact. Deploy takes the same plan to the cell: Home, Arm, Go to plan start, Load and Play, with Stop on screen the whole time. Load refuses a trajectory made for a different robot description or cell calibration. *Figure: The Simulate and deploy panel: the Plans list with a server-validated plan of 534 samples, and the simulation running on the Rosie 1400 cell.* Connected to the cell · Jog Live pose 1 kHz telemetry ## Jog it, watch it, measure it. Choose a cell from the Cells menu. Connecting verifies the cell's identity and never arms it. Jog joints or the tool in base or tool frame, and the 3D view follows the live robot. - Joint and Cartesian jog, with Home and move by angle. - Live position, velocity, acceleration, following error and torque for every joint. - Capture the last seconds of the controller's 1 kHz ring, and the executed TCP path for analysis. - Cells that other OLP servers advertise on your network, listed for you to add. *Figure: Offline programming connected to a Rosie 1400 cell in simulation, armed: the joint jog table with live positions beside live velocity plots for every joint.* On the pendant · Steam Deck Same programs ## The same program, in your hands. The Steam Deck teach pendant runs offline programming's own program logic, so it edits the same programs: record and reteach rows at the robot, plan, preview and run them. [The pendant on Rosie](https://advancedmetalresearch.com/rosie#control) *Figure: The RosieOS teach pendant on a Steam Deck, Program page: the hitch weld program as a spreadsheet of approach, weld and transit rows.* Open source · RosieOS Apache 2.0 ## Open source, all of it. Offline programming is part of RosieOS, under Apache 2.0. Read it, change it, run it on your own machines, and build your own tools on the same API it uses. ### The software - **Licence:** Apache 2.0 - **Source:** RosieOS on GitHub - **App:** Your browser - **Server:** Linux x86-64 or WSL2 - **Planning:** Weld planner, NVIDIA GPU ### Open formats - **Programs:** Documented JSON, with a schema - **Plans:** .weldplan, exportable - **API:** Documented HTTP API - **Same program in:** OLP, the pendant, the weld planner - **Unlock fees:** None [Program a weld from CAD](https://advancedmetalresearch.com/docs/guides/offline-programming) [Program format](https://advancedmetalresearch.com/docs/reference/program-format) [OLP HTTP API](https://advancedmetalresearch.com/docs/apis/olp-http) [Licence](https://advancedmetalresearch.com/docs/contributing/license) Get started ## Try it on a simulated cell. The quickstart starts a simulated Rosie cell on your own machine and jogs it from offline programming. No robot needed. [Read the quickstart](https://advancedmetalresearch.com/docs/get-started/quickstart) [Contact AMR](mailto:generalcontact@advancedmetalresearch.com?subject=Offline%20programming) Send us a part. STEP file · material · volume We'll program it in OLP and show you the plan.