Actin  Version 5.5.5
Software for Robotics Simulation and Control
Context Menu

The default context menu allows the user to configure parameters that are required for simulation by providing a context menu on right click of the mouse. This default context menu plugin enables the following for quick configuration: motion constraints, manipulators, center of interest, and background color.

There are currently two context options available. One context menu appears when user right clicks in the area over the background, and the other when user right clicks over a link or a manipulator.

The background context enables the configuration of the background color.

background.png
Background context menu

The link context enables the configuration of motion constraints, moving the center of interest (COI), adding a pose at the link as shown in Add pose at a link. Each of these menu options are described in detail in the following sections.

link.png
Link context menu

addPose.png
Add pose at a link

Motion Constraint Sub Menu

This menu option appears as a context menu only if the endEffectorControlPlugin has been loaded. The motion constraint option under the link context menu enables:

  1. Attaching a motion constraint to a link
attachEE.png
Attach motion constraint
  1. Configuring a motion constraint if the link already has one attached.
setActiveEE.png
Motion constraint configuration options

The "Set Active Motion Constraint" option makes the motion constraint associated with the link as the active motion constraint for controlling through the GUI. The "Edit Motion Constraint" option brings up the motion constraint editor. It allows the user to set the type of motion constraint, as well as the velocity and acceleration constraints.

EditEE.png
Edit motion constraint dialog

The "Remove Motion Constraint" option removes the motion constraint associated with the link.

Manipulator Configuration Menu

This menu allows the user to configure an existing manipulator.

Create a Referenced Copy of the Manipulator

This option allows for creating a referenced copy of the currently selected manipulator (or the source manipulator). This option allows us to have multiple manipulators that share the same data or properties. Thus modifying a property for one manipulator will modify that property in all other referenced copies of the manipulator.

Steps to create a referenced copy of a Manipulator

  1. Right click on the source manipulator
  2. Select "Manipulator-Create a Referenced Copy" as shown in Create a Referenced Copy
  3. The new manipulator will typically be superimposed on top of the manipulator which was taken as reference.
  4. Move the newly created manipulator to desired location. Refer to Move Manipulator for details to move the newly created reference manipulator. The steps involved in moving the newly created reference manipulator are shown in the images below.

cloneManip.png
Create a Referenced Copy

createCopyManip_1.png
Before moving the referenced manipulator
createCopyManip_2.png
After moving the referenced manipulator
createCopyManip_3.png
After confirmation of final position

Visual Cues for Referenced Maipulators

  1. When we right click on any manipulator, if there are referenced copies of that manipulator, all of them including the currently selected manipulator will be highlighted in blue color as shown in Highlight Referenced Manipulators
  2. When we right click on any referenced manipulator, the name of the source manipulator from which this was created is shown in brackets as shown in Show source manipulator name
  3. Modifying property for one of the manipulators will modify or apply the change for all referenced copies of the manipulator as shown in Modify property of all referenced manipulators. Here we modified the property "diffuse color" for a link and it was modified in both the manipulators.

highlightClones.png
Highlight Referenced Manipulators

cloneManipWithSource.png
Reference manipulator with source manipulator name

propChanged_clone.png
Property changed for all referenced copies of the manipulator

Create a Copy of the Manipulator

This option allows for creating a copy of the currently selected manipulator (or the source manipulator). This option allows us create a manipulator from the existing one, and the newly created manipulator now behaves as an independent manipulator without sharing any data with the source manipulator. Thus modifying a property for the copied manipulator will not modify that property for any other manipulator in the system. This is hown in the Figure below. The diffuse color for the selected link was changed only in the copied manipulator and not in the source manipulator.

propChange_copy.png
Property changed only for currently selected manipulator

Steps to create a copy of the Manipulator

  1. Right click on the source manipulator
  2. Select "Manipulator-Create a Copy" as shown in Create a copy of a manipulaor =# The new manipulator will typically be superimposed on top of the manipulator which was selected.
  3. Move the newly created manipulator to desired location. Refer to Move Manipulator for details to move the newly created reference manipulator.

copyManip.png
Create a copy of a manipulaor

Move Manipulator

This option allows for the movement of a manipulator when the simulation is stopped.

moveManip.png
Move manipulator

After selecting to move the manipulator, you will be prompted by a dragger dialog to move the selected manipulator. Steps to move a Manipulator

  1. Right click on the manipulator to be moved and select the "Move" option
  2. Dragger appears over the manipulator, with Move Manipulator Widget on the left as shown in Dragger to move manipulator
  3. While holding the "Shift Key", click on the axis along which you want to move the manipulator, the Axis color changes to Yellow and the "Move" button gets enabled in the "Move Manipulator Widget" as shown in Prepare to move
  4. Drag the dragger using the mouse key to the desired location and release the mouse key, this causes a Ghost manipulator to be displayed at the new location as shown in ghostManip 'Ghost manipulator at desired location" -# Click on the "Move" button to confirm the final position for the manipulator. This will move the manipulator to the current dragger location as shown in \ref confirmMoveManip "Confirm final position"

moveManipDlg.png
Dragger displayed to Move manipulator

holdShiftKeyToMove.png
Move manipulator with dragger holding the Shift Key

afterMove_1.png
Ghost manipulator displayed at the desired location

afterMove_2.png
Manipulator moved to the desired location

Scale Manipulator

This option allows for the size scaling of a manipulator.

scale.png
Scale manipulator

After selecting "scale" for the manipulator, you will be prompted by the scale dialog, where you can choose how much to scale the manipulator by. In this example, we scale the table manipulator by 1.5, which means that it should be 150% of the size. The results of this are shown Scaled manipulator.

scaleDlg.png
Scale manipulator dialog

afterScale.png
Scaled manipulator

Deleting a Manipulator

A manipulator can be deleted through the "Manipulator" option in the context menu. This can only be done if the simulation is stopped. This option is available only when there is more than one manipulator added to the simulation (ecz) file. In this example, we are trying to delete the "Floor" manipulator.

deletemanip.png
Delete manipulator

Move Center of Interest (COI)

This option moves the center of interest to a desired link. the figure below depicts the original view of the robot. The following figure illustrates the center of interest being moved to the desired link. The view will now rotate about that link until you translate the view.

moveCOI.png
View with non-centered COI

newCOI.png
View with COI at selected link