Task library > Object handling

In this task, the human model positions one or several objects at a defined target place and breaks the connection between object and the hand(s).

Subordinate tasks:

Move hand(s) to target, Grasp, Remove object link, (Walk)

Parameter	Type	Mand.	Meaning
List of objects to place	Object	yes	Parameter defining the object(s) to be positioned.
Reference object	Object	no	An object parameter determining an object whose position and orientation shall be used as reference for the placing the target object. In the selection window there is an option to create a marker as a placement target. This coordinate parameter defines the target location and the orientation of the object explicitly (in relation to the respective object coordinate system).
Automatic walking	Checkbox	yes	A decision parameter determining whether the human model will walk automatically to the indicated target point / target object.
Body movement type	Selection	no	A selection parameter used to select the upper body motion to be used.
Lock leg movement	Checkbox	no	A decision parameter determining whether the human model is allowed or not to squat during the motion.
Reference object (secondary)	Object	no	An object parameter determining a second reference object / target to place an object. In case of different objects picked by different hands the human model is able to place them at the same time. Reference object is always assigned to the first object from the list of objects to place. Objects which are handled with the other hand are placed at secondary reference objects location.
New parent object	Object	no	An object parameter, which defines a new parent object for the object which is placed. If no parent object is set and the parameter use references always as new parent objects in User interface / Menu bar / Options / Settings / Simulation is activated, then the reference object is taken as the parent object. Otherwise, scene graph root will be the parent object.
New parent object (secondary)	Object	no	An object parameter which defines a new parent object for the secondary object which is placed. If no parent object is set and the parameter use references always as new parent objects in User interface / Menu bar / Options / Settings / Simulation is activated, then the reference object (secondary) is taken as the parent object. Otherwise, scene graph root will be the parent object.
Object movement type	Selection	no	A selection parameter defining the manner how the object is guided to the target.
Clearance [mm]	Floating-point number (0.0 to 500.0)	no	A value parameter defining distance between the target location and the object for which the selected object movement type will take place (except for “directly”).
Local 'object up-direction'	Selection	no	A selection parameter defining the side of the object bounding box which will face upwards during the object positioning onto the placement target (e.g. placing box on table). The parameter is only active if a positioning target (mandatory parameter) is used and if a corresponding axis is selected (it replaces the functionality of the task flat positioning of the object(s)).
Fix used hand(s) at target	Checkbox	no	A decision parameter determining whether the hand will be fixed to the target or it will hang down after the task.
Allow change of grip	Checkbox	no	A decision parameter determining whether the hand or the object need to be manipulated to match the orientation constraint between the placement target and the object.
Type of placing	Selection	no	A selection parameter defining the type of positioning. This parameter has an influence on the calculated duration of execution and on MTM-UAS time analysis (see chapter User interface / Tab "Results" / Time analysis).
Further positioning distance range 1	Checkbox	no	A decision parameter determining whether the object to be placed should be positioned further. Used for evaluation and documentation purposes.

iAt least one object must be coupled to at least one hand.

iOne of the two parameters Reference object or Placement target must be indicated. If both parameters are indicated, the Reference object is prioritized as target.

iThe placement target must be within the reach envelop of the selected human model.

iThe specified placement target is only used for the first object in the list of objects to be positioned. All other objects are placed in relation to the first object's position and orientation after it being picked up.

iWhile placing an object which is linked to another object, a new parent object can be set depending upon the context. For example, when an object is placed into a small load carrier (SLC) which is to be transported, it is recommended to set the SLC as the new parent object. This ensures that the object will be carried along during transportation of the SLC.

iReference objects are used for simple and clear positioning of objects. Reference objects are identical objects at the positioning target to which the object is aligned. Thus, already completely assembled reference assembly groups can be inserted and built up step by step. In doing so, it is decisive that only the coordinate systems of the objects are aligned, which might lead to deviations in the event that the coordinate systems are changed within the individual objects.

Place object(s)

Place object(s)