Hierarchy & attachments

The Objects sidebar shows the scene as a tree. Every object has a parent (or sits at the root), and a child's pose is expressed in its parent's frame.

Why parent objects

• Assemblies move together. Put a whole station under one parent and reposition the station by moving one object.
• Logical grouping. The tree stays readable when a machine has dozens of parts.
• Motion inheritance. A child of a moving object moves with it, this is how you compose motion.

Attaching to mechanism links

The powerful case: mechanisms expose their links as attachment points. A gripper object attached to the last link of a serial manipulator rides the arm; a sensor bracket attached to a four-bar coupler follows the coupler curve.

The attached object's own pose then acts as an offset within the link's frame, and its own variable bindings still apply on top, so a gripper can open/close (its own binding) while riding the arm (inherited).

Composition patterns

• Path + mechanism: a path follower carries a crank mechanism → products on a rotating carousel with per-station motion.
• Machine + product flow: parent product objects to a conveyor path so they travel with it, and toggle their visibility with a variable when picked.