Standard Pose Dialog Box

The Standard Pose dialog box appears when you select Standard Pose You can use this to apply standard poses to a manikin without using the Robot. You can also use the text in the 3D geometry. You can grab the dimension and move the mouse.

To access the dialog box, select Standard Pose from the contextual toolbar.

This dialog box contains controls for:

This page discusses:

Sit



Translation
This tab includes two editors to quickly define the height and depth of the sitting posture.
Display
The Display option zooms on the manikin and changes the viewpoint to provide the best possible view of the working posture.
Constraints
Using Constraints to freeze sections of the manikin.

Use the Constraints check boxes to freeze the positions of the hands and the direction of the eyes while the rest of the manikin moves.

Note: This option cannot use in the Hand Grasp and the Adjust Elbow tabs.

Squat

Squatting
This tab includes an editor to quickly specify the height of the squatting posture.



Stoop

Stooping
This tab includes an editor, a pelvis option, and a trunk option.

Trunk (default): The manikin's spine can manipulate as a whole or as sections. You can choose which section of the spine (whole spine, lumbar section, or thoracic section) to flex/extend (sagittal) in forward kinematics (DOF 1).



Pelvis: The manikin's trunk can bend with pelvic rotation; the pelvis rotates around the hips. Both pelvis and trunk rotation can perform independently of each other but cannot use together.

Spine

Thoracic

Lumbar

Twist

Twist
This tab includes an editor to quickly move the whole spine in forward kinematics (DOF 3, that is, left or right rotation.)



Lean

Torsion X
This tab includes an editor to quickly flex the whole spine laterally in forward kinematics (DOF 2, that is, lateral flexion.)



Hand Posture

Hand Posture
Three types of hand grasps are: cylindrical grasp, spherical grasp, and pinch grasp. The grasps done with the left or right hands independently, or with both hands together. Use the slider bar to loosen or tighten the grasp. Also use this option with the forearm model.

Cylindrical Grasp



Spherical Grasp



Pinch Grasp



Out of Range Errors

In the context of the Standard Pose command, there are three error messages that mention the out of range string. Here are some explanations:

The posture's value on this context is 'Out of range'. (due to the DOF values on the kinematic chain are outside its limit)
This message occurs when any of the following three conditions appear:

  • The Inverse Kinematics solver fails to find a solution.
  • The Inverse Kinematics solver has found a solution, but the left ankle segment displaces by more than 0.5 mm.
  • The Inverse Kinematics solver has found a solution, but the right ankle segment displaces by more than 0.5 mm.

The Solution failed (value out of range).
This message occurs when any of the following three conditions appear:

  • The Inverse Kinematics solver fails to find a solution.
  • The Inverse Kinematics solver has found a solution, but the left ankle segment displaces by more than 0.05 mm.
  • The Inverse Kinematics solver has found a solution, but the right ankle segment displaces by more than 0.05 mm.

Value /p1 out of range. Can be lower than /p2\nValue /p2 is restored.
This message occurs when trying to define the angle between the L5 and T1 segments to a value that is outside the limits for that degree of freedom.