Method of teaching robotic system

A method of teaching a robotic system having an optical perception means to perform at least an operation on at least a real object, said method comprising the steps of:

• providing an object model library containing at least an object model describing a three-dimensional shape, and providing an operation module library containing at least an operation module describing an operation, wherein each object model comprises a plurality of geometric parameters of said three-dimensional shape;
• and each operation module comprises a plurality of operation parameters regarding at least a target to be operated and a plurality of pieces of information relevant to said operation;
• defining a virtual object to represent a real object to be operated by said robotic system, wherein said virtual object definition is associated with a unique name and an object model of said object model library;
• said three-dimensional shape described by said object model is substantially and geometrically similar to said real object, and said plurality of geometric parameters of said object model are specified in accordance with said real object;
• and
• defining an operation to be performed by said robotic system on at least said real object, wherein said operation definition is associated with an operation module of said operation module library, said target of said operation parameters is specified to be said unique name of said virtual object representing said real object, and said pieces of information of said operation parameters are specified in accordance with said virtual object and said operation.