Manikin

Configure manikin

Limited to manikin

Dialog box for selecting a manikin which can replace the existing manikin.

Manikin

Set body posture

Limited to manikin

Options for initial posture adjustment (standing, upright (initial posture) - standing, upright (keep arm posture) - sitting, upright - sitting with trunk extension)

Manikin

Create / remove reach space (DIN EN ISO 14738)

Limited to manikin

Creates a reach space object (see chapter User interface / Tab "Objects" / Buttons / Insertion of objects / From library / Geometric primitives). The default values are based on the selected human model (male/female) and the height percentile according to DIN EN ISO 14738.

The generated reach space object is hierarchically attached below the selected human model and is located at the height of the elbow joint.

The reach space is based on the formulas of the calculation method according to DIN EN ISO 14738:2005 under use of population specific anthropometric data (see sources on anthropometry).

Manikin

Create / remove 3D reach space (Hettinger & Wobbe, 1993)

Limited to manikin

Creates a 3D reachspace according to Hettinger & Wobbe (1993). The reachspaces depend on the respective human model and its individual dimensions.

The three reachspaces according to Schmauder & Spanner-Ulmer (2022) are as follows:

•red = anatomically maximum reachspace (upper arm length)

•yellow = physiologically large reachspace (reduction of the anatomically maximum reachspace by 10 %)

•green = physiologically small reachspace (forearm length)

The reachspaces always refer to the immobile upper body. No distinction is made between sitting and standing.

The 3D reach space object can be displayed for the left, right, or both sides. Its transparency can be changed.

Creation

Set object as alternative insertion root

All objects except human model and body part

If the selected object is defined as alternative insertion root object (see chapter User interface / Tab "Objects" / Buttons) it is used as the parent for newly added objects.

The object is placed using the local position and orientation options in the Add object from library dialog.

An extra option available is the checkbox Activate usage of alternative insertion root object. It is enabled by default (see chapter User interface / Tab "Objects" / Buttons). The advantage of this feature is that objects created in georeferenced scenarios, potentially far from the origin itself, can be placed at the desired position quickly.

Creation

Create new group with master object

All objects

Creates a new object group with the selected object as the group master. Group members can also be added to this group. Further possibilities to edit the object group can be found in chapter User interface / Tab Objects / Buttons.

Creation

Create new group with member object(s)

All objects

Creates a new object group with the selected object(s) as the group members(s). Group master can also be added to this group. Further possibilities to edit the object group can be found in chapter User interface / Tab Objects / Buttons.

Creation

Add as group member

All objects

Adds the selected objects to an existing object group as group members. The object group to which these objects need to be added is selected via a dialog window. Further possibilities to edit the object group can be found in chapter User interface / Tab Objects / Buttons.

Creation

Remove from all groups

All objects

Selected objects will be removed from all available object groups.

Creation

Create assembly template

All objects

A new assembly template will be created from the selected object as a locked reference with structure. This is used to store the end position of components in the assembly; target objects are found automatically in the structure. As a documentation parameter the checkbox is assembly template is activated. The created objects have the prefix "AssemblyTemplate_".

If the object has been changed since it was loaded, a dialog appears in which the assembly template can be created based on the initial structure.

Creation

Copy object

All objects

Copies the object and inserts it at the same position.

Creation

Copy object (with structure)

All objects except body part

In addition to function Copy object this function copies not only the selected object but also all of its hierarchical child objects. Afterward, the copied object structure will be situated at the same geometrical location like the original. With this functionality whole workplace layouts or racks completely occupied with objects can be duplicated easily. Only restriction is that all sub objects have to be hierarchical children of the top level object (see chapter User interface / Menu bar / Options /  Settings / User interface).

Creation

Add marker with object matrix

All objects

Creates a marker using the object matrix of the selected object.

Creation

Create reference for object

All objects

Creates a Reference object from the given object. The reference object is a simple copy of the original object without any structural hierarchy and is realized by reference to the original object's sub-tree. The reference object could be used as target object in task parameters. In contrast to physical object copies, the underlying files and object structures do not need to be reloaded. Thus, the use of reference objects instead of object copies is preferable due to performance reasons.

References have the parameter full original structure, that differentiates between the visualization of the full original object structure geometry (checked) or only displaying the single original object geometry (unchecked).

Creation

Add label to object

All objects

Adds a label to the selected object which is inserted in the object tree under the corresponding object.

Creation

Save active object in file

All objects except human model and body part

The selected object can be exported in different formats.

Transformation

Set root as parent

All objects except human model and body part

Attaches the selected object under the scene graph root.

Transformation

Set parent

All objects except human model and body part

Attaches the selected object in the scene graph under another object to be selected.

Transformation

Merge object structure

All objects except human model and body part

Merges the selected object with its substructure to a single object.

Transformation

Adopt matrix of other object (global)

All objects except human model and body part

An object selection dialog is opened and after successfully selecting an object its global transformation data will be applied.

Transformation

Reset object to initial matrix (repair scaling)

All objects

The rotation, translation, scaling values of the object matrix are overwritten with corresponding values of the object matrix when the object was initially loaded in the scene.

Transformation

Select endeffector

All objects except body part

Selects the endeffector object of a kinematic chain. In the case of multiple endeffectors, an object selection dialog appears, with which the desired endeffector can be selected.

Coordinate Origin

Reset object origin

All objects

Resets the coordinate origin of the selected object.

Coordinate Origin

Apply origin from another object

All objects

An object selection dialog opens to select a source object to adapt the coordinate origin from. If successful, the object symbol will be overlaid with a colored coordinate origin, e.g. for a cuboid:

Coordinate Origin

Set origin in bounding box center (move origin)

All objects

Moves the coordinate origin to the center of the bounding box of the selected object.

Coordinate Origin

Set origin in bounding box center (move geometry)

All objects

Moves the geometry so that the coordinate origin is in the center of the selected object's bounding box.

Edit

Copy to clipboard (object structure only)

All objects except body parts

The selected object with its substructure will be copied to the clipboard.

Edit

Copy to clipboard (object structure & assigned behaviors)

All objects except body parts

The selected object with its substructure will be copied to the clipboard. In case of human models or dynamic objects the associated behaviors are also copied to clipboard.

Edit

Insert from clipboard

All objects except body parts

The copied object structure in the clipboard will be hierarchically inserted below the selected object. By choosing paste original objects the object will be inserted like it was copied. With paste replacement objects the individual objects are replaced by geometric primitives (cuboid) based on their bounding boxes. In case of human model or dynamic object with connected tasks are copied to the clipboard, then the behavior will also get inserted.

Edit

Delete selected object(s)

All objects except body parts

The selected objects will be deleted.

Behavior

Add behavior

All objects except human model

Adds a behavior (object movements) to the object.  In doing so, a task bar is added in the tab Tasks. The tasks are dragged into the task bar (see chapter User interface / Tab "Tasks"). Object node gets a different color, which indicates that now tasks could be assigned to this object.

Behavior

Remove behavior

All objects except human model

The task bar is removed again.

Visibility

Display all objects of the same type

All objects

Displays all objects of the same type.

Visibility

Mask out all objects of the same type

All objects

Masks out all objects of the same type.

Visibility

Zoom on (sub)objects

All objects

Zooms to all subobjects of the respective node / object based on their bounding boxes. This functionality is especially helpful for objects where the coordinate origin is displaced from the geometric center.

Parameter

Edit user defined parameters

All objects except human model and body parts

Pressing the menu item opens a dialog Manage userdefined parameters of ... (see chapter Parameter types / User defined parameters).

Parameter

Transfer parameters

All objects except body parts

This menu item can transfer parameters defined for an object to other objects. A dialog box will open (see figure required parameters) wherein the required parameters of the object that need to be transferred can be selected (using the checkbox). After this a dialog box (see figure Selection of required objects) will be opened wherein the object(s) on which the selected parameters need to be applied  can be selected and press OK in the dialog box to complete the parameter transfer.

Parameter

Replace object in task parameters

All objects

Replaces the object in all tasks in which it is used by another object.

Parameter

Apply comment color on object

Human model and geometric primitives

Transfers the comment color of the level corresponding to the object in the Tree view to the object in the 3D view.

Parameter

Fetch comment color from object

Human model and geometric primitives

Synchronizes the comment color of the level corresponding to the object in the Tree view with the color of the object in the 3D view.

Movement / risk space

Create movement area

All objects

This function creates a voxel grid that represents the space the object occupies during the simulation.

Movement / risk space

Create risk area (speed dependent)

All objects

Extension of the movement area by a speed-dependent safety distance (based on ISO/TS 15066 ).

Movement / risk space

Create reach space object

All objects

For a user selected node in the kinematic chain (see chapter Task library / Tasks (basic objects) / Complex object FK (Forward kinematics) and Task library / Tasks (basic objects) / Complex object IK (Inverse Kinematics)), a closed 3D object could be generated, whose interior space represents the complete set of points, the user selected node in the kinematic chain can reach by manipulating the available DOFs (External reach space). For e.g. by selecting the end effector (TCP/Hand joints in case of robots/human model), the complete 3D space where the robot/human model can reach could be generated. In addition to that, the 3D region where the selected node cannot reach (Internal reach space) can be computed and visualized as a closed 3D object (see figure Reach space objects). The generated 3D objects are stored as collada files in emaGeometry folder (see chapter User interface / Menu bar / File).

Hide

All objects

Object will be become invisible in the 3D view and the corresponding flag is set in the object tree and list view (see chapter User interface / Tab "Objects" / List view).

Show

All objects

Object will be become visible in the 3D view and the corresponding flag is set in the object tree and list view (see chapter User interface / Tab "Objects" / List view).

Set collision object flag

All objects

Collision object flag is set for all selected objects (see chapter User interface / Tab "Objects" / List view).

Remove collision object flag

All objects

The set collision object flag is removed for all selected objects (see chapter User interface / Tab "Objects" / List view).

Set floor object flag

All objects

Floor object flag is set for all selected objects (see chapter User interface / Tab "Objects" / List view).

Remove floor object flag

All objects

The set floor object flag is removed for all selected objects (see chapter User interface / Tab "Objects" / List view).

Lock structure

All objects

Locks the hierarchical structure of an object. The child nodes of the object could not be edited any more and are greyed out in the tree view. These child nodes could not be individually selected in the 3D view.

Unlock structure

All objects

The locked structure will be released for editing. The child nodes are no longer greyed out in the tree view and could be individually selected in the 3D view.

Structure lock all objects on same level

All objects

Locks the hierarchical structure of an object as well as of all further objects that are located on the same level beneath a parent object. The child nodes of these objects can not be edited any more and are greyed out in the tree view. These child nodes can not be individually selected in the 3D view.

Expand all (sub)nodes

All objects

Expands the complete tree structure below the selected nodes.

Expand next level (sub)nodes

All objects

Expands the tree structure below the selected nodes by one level.

Contract all (sub)nodes

All objects

Contracts the complete tree structure below the selected nodes.