Doosan M0609 User Manual page 148

Move to Start Pose: If the End Effector execution target does not end with a single motion, there may
be an intermediate point and an end point, and the Action Start Pose is the point where the work
starts. (i.e. Door_OpenClose Skill - Start Pose)
Move to End Pose: If the End Effector execution target does not end with a single motion, there may
be an intermediate point and an end point, and the Action End Pose is the point where the work ends.
(i.e. Door_OpenClose Skill – End Pose)
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Doosan Robotics User Manual v2.6.1