Interface
Double click a Reference Frame 
to see more details about that reference frame and modify its position with respect to the robot base frame or any other reference frame available in the station. By default, the coordinates displayed (pose) are relative to the parent of the reference frame (in this example, the robot Base Frame).
Multiple reference frames can be related to each other to build the dependency that exists in a real application. For example, a table can have a specific position with respect to the robot. Then, two or more objects in the table can have a specific position with respect to the table reference. Moving the table reference will not alter the relationship between the objects and the table but will alter the relationship of all the objects with respect to the robot. The following image shows such an example.
