# Manual Robot Positing

The manual robot calibration process can be used to align the digital twins of multiple robots to a stationary Sensor point cloud or to move the digital twin in the virtual scene to allow alignment with headset feed in the passthrough mode.

There are six primary transformation modes available in this mode:

### Six Main Transformation Modes

The AMAS VR App's Manual Calibration process offers six main transformation modes, each targeting specific aspects of positioning and orientation:

1. **Right Transformation**: Adjust the lateral position of the Robot along the right axis, allowing you to control its placement precisely.
2. **Up Transformation**: Fine-tune the robot's vertical positioning using the up axis, ensuring accurate alignment with your hand movements.
3. **Forward Transformation**: You can control the depth positioning of the Robot along the forward axis, enhancing the realism of your interactions.
4. **Roll Transformation**: Achieve rotational adjustments around the Robot's axis, enabling you to set the desired orientation for optimal interaction.
5. **Pitch Transformation**: Make controlled changes in the pitch angle, affecting the tilt of the Robot to match your hand's natural movements.
6. **Yaw Transformation**: Modify the yaw angle, controlling the Robot's rotation around the vertical axis to align with your hand's orientation.

{% hint style="info" %}
Along with these, there is also an interactive point present at the base of the digital twin, which can be grasped and moved just like the robot movement in the `Robot Control Mode`.
{% endhint %}

### Steps for calibration

Let's go over the steps of the process:

1. Click the `Configuration` tab in the wrist panel.
2. Click on the dropdown button next to the `Cortex` button, which will open `Robots` and `Sensors` buttons. 
3. Press on the `Robots` button, which will open the `Active Robots` panel.
4. Select the robot you want to calibrate; this will open the `Modify Robot` Panel.
5. Click on `Calibrate` in the `Modify Robot` Panel.
6. Select `Manual Adjustment Button`.
7. This should open the Manual Calibration Panel, where you can make the necessary adjustments according to your needs, along with the Interaction Calibration Mode at the base of the digital twin.
8. Once happy with the adjustments made, click `Save` and the new orientation and position of the digital twin will be saved in your robot's configuration.