Task library > Object handling

This task provides the possibility to simulate the action of pushing/pulling an object. The current hand's position is taken as the start position of the hand for the task. This implies the previous application of the "Hand move to target" task need to be corrected. The push/pull directly takes the object from its initial position to the placement target/reference object. The collisions of the pushed/pulled objects with the human model/objects on the way are not considered. In order to avoid collisions, additional intermediate reference objects need to be created.

Subordinate tasks:

move object(s) to target, walk, create object link, remove object link

Parameter	Typ	Mand.	Meaning
Object to move	Object	yes	An object parameter for defining which object need to be moved.
Reference object	Object	yes	An object parameter determining an object whose position and orientation shall be used as reference for the placing the target object.
Target location	Position & orientation	yes	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).
Push/pull to start position	Checkbox	no	If this checkbox is activated, the human model walks pushes/pulls the handles object to its position at the beginning of the simulation.
Release object(s)	Checkbox	yes	A decision parameter which determines whether the connection between the hand and the Object being moved need to be removed after the execution of the task.
Prevent walk while pushing/pulling	Checkbox	no	A decision parameter which determines whether the human model is allowed to walk within the task.
Move without stopping	Checkbox	no	A decision parameter which determines whether the human model should stop in between when there are several reference objects or whether to move continuously.
Orient in walk direction	Checkbox	no	A decision parameter which determines whether the pushed / pulled object should be oriented into the human model's walk direction.
New parent object	Object	no	An object parameter, which defines a new parent object for the object which is placed hierarchically below. If no parent object is set, the scene graph root is defined as the new parent object.
Target (grabpoint) for left/right hand	Position & orientation	no	Coordinate parameters allowing an optional definition of grasping points to be used during the pick-up.
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 or the pushing / pulling.
Pushing/pulling type	Selection	no	A selection parameter with a list of varied predefined pushing/pulling types (according to EAWS).
Body movement type	Selection	no	A selection parameter used to select the upper body posture while picking-up the object.
Lock leg movement	Checkbox	no	A decision parameter determining whether the human model is allowed to squat or not during the task execution.

Push / pull

Push / pull