Actin  Version 5.5.5
Software for Robotics Simulation and Control
Active Control Parameters

The active control parameters plugin provides an interface to quickly display which aspects are being controlled and how. To use this plugin, load the activeControlParamPlugin.ecp from the load plugin menu. Loading the plugin adds a toolbar to the bottom of the simulation window.

Using the Active Control Parameters Toolbar

activeControlWidg.png
Active Control Parameters Toolbar

This widget allows you to view and change which manipulator is active, which control method is active, which motion constraint set is active, and which motion constraint is active. You can also change the speed factor for the active manipulator's control system, as well as cycle the active tool offset if tool offsets are configured.

params1.png
params2.png

You can show or hide specific active parameters by clicking the button to the left of the drop down. This can be useful for conserving screen space.

hiddenParams.png