Simulation context toolbars

They are smart toolbars that contain only those commands that can apply to the current selection.

This page discusses:

Track Toolbar
Skill Browser

Track Toolbar

Note: The selected command dictates which commands appear in the toolbar.


	Insert Trajectory Point After moving the Robot, click to record the Trajectory Point position of the object. See Create a Track


	Modify Trajectory Point Click the required Trajectory Point and the object moves to that position. Move the robot to the new position and click Modify. Or on the Player action bar, use Step Backward and Step Forward to position the handle on the required Trajectory Points. To deactivate this mode, click once. See Create a Track


	Delete Trajectory Point Deletes one Trajectory Point after another. Position the cursor on the Trajectory Point to delete. Note: When you are modifying the track, if you need to delete multiple Trajectory Points at a time, multiselect them (hold down Ctrl, and left-click to select) and press Del. See Create a Track


	Previous Trajectory point Move to the previous trajectory point.


	Next Trajectory point Move to the next trajectory point.


	Regrasp Changes the grasp of the hands. An offset appears between one or more hands and the human interface. This command changes the posture of the manikin by retaining the constraint between one or more hands and the human interface. In a Create Put scenario, the manikin might require adjustment to the neck and trunk posture. Requires to visualize the final location of the object while maintaining the current grasp and position of the object. Constraints between the hand and the object are retained with Lock. Clicking Lock unlocks the constraints. Later clicking Detach brings up the Skill Browser bar.


	Define Repeatable Sequence See Modifying Activities with Tracks or Repeatable Sequences


	Specify Part of the Track to be Reused This allows you to select an existing track the Start and End Trajectory points. See Specify Part of the Track to Be Reused


	Cumulative Snap See Creating a Track Using Cumulative Snap


	Detach Detaches the Robot from the moving objects when creating a track. See Detaching and Reattaching the Robot During Track Creation


	Insert Jog Move Inserts a jog move.


	Modify Jog Move Modifies the jog move


	Delete Jog Move Deletes the jog move.

Skill Browser


	Insert Posture After moving the Robot, click to insert the posture of the object.


	Modify Posture Move the robot to the new position and click Modify.


	Delete Posture Select to delete the posture


	Reverse Posture Click to reverse the posture.


	First Posture Click to go to the first posture


	Previous/Next Use to switch between the Action and Return phases. Clicking Next is also an indication to display the intrinsic skills for the Return phase. The Previous icon is not available till specifying a Return posture. Next, use this icon to move to the next phase. Note: The Previous/Next icons are useful when the Create Put activity is integrated with the automatic determination of intrinsic basic skills for the preparation and return phase enhancements.


	Last Posture Click to go to the last posture