Object to move

Object

yes

An object parameter defining the object to be moved.

Reference object

Object

no

An object parameter  for the selection of multiple objects, whose positions should be used as a reference for both, the positions as well as the orientation of objects. The object which is meant to be moved, keeps the sequence of the previously selected references (objects) within its moving path.

Target location

Position & orientation

no

A coordinate parameter explicitly defining the coordinates of the target position and the orientation of the object (in reference to the respective object coordinate system).

Body movement type

Selection

no

A selection parameter used to select the upper body motion to be used.

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.

Object movement type

Selection

no

A selection parameter defining the manner how the object is guided to the target.

Target to look at

Position

no

A coordinate parameter representing the point at which the human model will look.

Clearance [mm]

Floating-point number

(0.0 to 500.0)

no

A value parameter defining the distance between the target location and the object for which the selected object movement type will take place (except for “directly”).

Lock leg movement

Checkbox

no

A decision parameter determining whether the human model is allowed or not to squat during the motion.

Allow change of grip

Checkbox

no

A decision parameter determining whether hand displacement at the object is allowed or not during the motion. Disabled by default, i.e. once found or manually set grip points are retained in position and orientation. When activated, the ergonomically best possible grab point(s) with the best possible orientation is/are selected at all times during the object movement.

Posture left/right arm / hand

Selection

yes

A selection parameter defining different hand and arm position for the current task and the subsequent tasks. For a detailed description, see chapter Performance library under Hand / arm position left / right).