My issue does not really stem from any error in my code, but rather i do not understand the code my school is teaching me on a fundamental level. So if any of you work close with kuka robots or sunrise workbench I would really appreciate if you could help me with thes

package server;//where the application is located

import javax.inject.Inject;//for @inject functions




import com.kuka.nav.Location;
import com.kuka.nav.OrientationMode;
import com.kuka.nav.Orientations;
import com.kuka.nav.Pose;

import com.kuka.nav.XYTheta;
import com.kuka.nav.data.LocationData;
import com.kuka.nav.line.VirtualLine;
import com.kuka.nav.line.VirtualLineMotion;
import com.kuka.nav.rel.RelativeMotion;
import com.kuka.nav.robot.MobileRobot;
import com.kuka.nav.robot.MobileRobotManager;
import com.kuka.nav.task.NavTaskCategory;
import com.kuka.resource.locking.LockException;
import com.kuka.task.ITaskLogger;
import com.kuka.task.RoboticsAPITask;


@NavTaskCategory // the function dictates the nav server codes.
public class P01S_DMRO3A01_IsaiahYeong extends RoboticsAPITask {
    // the roboticsapi task super class is used to create the public class called ex01relative motion

    @Inject//inject is for a method
    private MobileRobotManager _robMan; //for the sever, you need smth to manage it
    private MobileRobot _rob;// To create a mobilerobot object called _ rob, also has a mobilerobot datatype
    @Inject
    private LocationData _locDat;
    @Inject
    private ITaskLogger _log;//communicates to console
    
    private int _robotId;

    

    // -------------------------------------------------------------------
    
    @Override//meant for object
    public void initialize() throws Exception {
        // real robot ID 1
        // a place to store variables 
    
        _robotId = 1;   //tagging the robot with id number 1
        _rob = _robMan.getRobot(_robotId);
        _log.info("Initialize finished.");//to indicate in console that initialising is done
    }

    // -------------------------------------------------------------------

    @Override
    public void run() throws Exception {
        _log.info("Starting application...");

        try {
            _rob.lock();//when the robot is locked you have control

            executeViLiMoToPose();

        } catch (LockException e) {
            _log.error("Already locked.", e);
        } catch (InterruptedException e) {
            _log.error("Interrupted.", e);
        } finally {
            _rob.unlock();
        }

        _log.info("Application finished.");
    }
    
    // -------------------------------------------------------------------

    private void executeViLiMoToPose() {
        _log.info("Method executeApplication started.");
        
        
        //Get locations
        
        Location Home = _locDat.get(278); //get home location ID
        Location goalLoc2 = _locDat.get(280); //get goal 2 location ID
        
        //setting velocity
        XYTheta vel = new XYTheta(0.2, 0.2, Math.toRadians(10));//setting velocity for x,y, theta
        
        
        //move to home
        VirtualLineMotion MotionHome = new VirtualLineMotion(_rob.getPose(),Home.getPose());
        MotionHome.setVelocityOverride(vel);
        _rob.execute(MotionHome);
        
        //GOALPOSE 1
        Pose StartPos = _rob.getPose();
        Pose goalPose1 = new Pose(_rob.getPose().getX()+0.7, _rob.getPose().getY(),
                _rob.getPose().getTheta());//gets its current position, when retrieving its x axis adds 0.8m and makes it goalPose1
        
        
        //orientations
        
        Orientations ori1 = Orientations.map(Math.toRadians(-30));//Creates a variable called ori1 that moves the robot -30 degrees theta
        VirtualLine VirtLi1 = VirtualLine.from(StartPos.toPosition()).to(goalPose1.toPosition());// VirtLi1 is set to move to goalpose 1 from starting position using virtual line
        VirtualLineMotion Motion1 = new VirtualLineMotion(VirtLi1,ori1 , OrientationMode.VARIABLE);//Motion 1 is created with Orientation and VirtLi data
        Motion1.setVelocityOverride(vel);//velocity for Motion 1 is set
        _rob.execute(Motion1);//Motion 1 is executed
        
        
        //GOALPOSE 2
        
        VirtualLineMotion Motion2 = new VirtualLineMotion(_rob.getPose(),goalLoc2.getPose());//gets its current position and gets the location of goalpose and figures out how to navigate the way there
        Motion2.setVelocityOverride(vel);//velocity for Motion 2 is set
        _rob.execute(Motion2);//Motion 2 is executed
        
        
        
        //GOALPOSE 3
        RelativeMotion Motion3 = new RelativeMotion(-0.7, 0, Math.toRadians(30));//moves the robot -0.8m on the x axis relative to where it currently is and rotates it 30 degrees relative to its prior orientation 
        Motion3.setVelocityOverride(vel);//velocity for Motion 3 is set
        _rob.execute(Motion3);//Motion 3 is executed
        
        
        
        //move back to home
        
        
        VirtualLineMotion MotionHome2 = new VirtualLineMotion(_rob.getPose(),Home.getPose());//gets its current position and gets the location of Home and figures out how to navigate the way there
        MotionHome2.setVelocityOverride(vel);//velocity for motionHome2 is set
        _rob.execute(MotionHome2);//executes the command motionHome2
        
        
        
        
        
        
        
        

        
    
        
        
        _log.info("program finished");
        
        
        

    }
    
    // -------------------------------------------------------------------
    
    @Override
    public void dispose() throws Exception {
        _log.info("Dispose finished.");
    }
}

The main things that will need explanation is Virtuallinemotion and //orientations part. feel free to correct any misunderstandings that you might see in the code above

I have tried looking for documentation on the libraries and functions and i could only find documentation for the iiwa arm hence why i am asking here instead. if documentation exists out there I would really appreciate if you could link them below. Thank you so much for your patience and kindness!