Object to move (manipulator)

Object

yes

An object parameter that defines the manipulator to be moved.

Target position(s) (manipulator)

Object

yes

An object parameter that explicitly defines the target location and the orientation of the manipulator.

Release manipulator

Checkbox

yes

A decision parameter that determines whether or not the connection between the hand and the object to be moved (manipulator) should be released at the end of the operation.

Prevent walk while pushing / pulling

Checkbox

no

A decision parameter that determines whether the human model is allowed to walk during the execution of the task.

Move without stopping

Checkbox

no

A decision parameter that determines whether a human model should stop in between several reference objects or move continuously.

New parent object

Object

no

An object parameter for which a new parent object can be defined. If no object is set, the scene graph root is used as the new parent element.

Target (grabpoint) left / right hand

Position & orientation

no

A coordinate parameter that allows an optional definition of gripping points to be used during recording.

Consider kinematic chain of the manipulator

Checkbox

no

A decision parameter that determines whether the manipulator should only be moved in the degrees of freedom (DOF) defined for it.

Speed adjustment [%]

Floating-point number

no

A percentage value that indicates which speed adjustment is applied during acceleration or braking.

Number of actuators (trigger points)

Floating-point number

no

A value parameter that defines how often actuators must be pressed during this operation. Only for evaluation purposes (MTM-UAS: actuate). The default value is 1.

Process time manipulator [s]

Floating-point number

no

A value parameter that defines how many seconds to wait when arriving at the target position. For evaluation purposes only (MTM-UAS: process time). The default value is 0.0 s.

Target to look at

Position

no

A coordinate parameter that represents the point at which the human model should look.

Body movement type

Selection

no

A selection parameter with which the upper body movement to be used can be selected or restricted.

Lock leg movement

Checkbox

no

A decision parameter that determines whether the human model is allowed to crouch or not during the movement.

Allow change of grip

Checkbox

no

A decision parameter that determines whether or not the manipulator may be gripped during movement. Deactivated by default, i. e. once found or manually defined gripping points are retained in position and orientation. When activated, the ergonomically best possible gripping point(s) with the best possible orientation are selected at all times during the object movement / while the manipulator is being pulled or pushed.

List of objects to pick

Object

yes

An object parameter that defines the object(s) to be picked up by the manipulator.

Reference position for picked object (object location in manipulator)

Object

yes

An object parameter that defines a reference object whose position and orientation is to be used as a reference for the picked object(s).

Reference of object at target

Object

yes

An object parameter that defines a reference object whose position and orientation is to be used as a reference for the object(s) to be placed.

Object(s) to place

Object

yes

An object parameter that defines the object(s) that are to be placed by the manipulator. The object(s) has/have to have been picked with the manipulator prior to the task.

Push/pull to start position

Checkbox

yes

A decision parameter that determines whether the human model pulls/pushes the manipulator to the position it was in at the start of the simulation.