Robot viewer

Robot viewer displays a 3D view of the robot on which the plugin is connected. It allows to move the robot limbs around, to enter dialog inputs or watch its logs.

_images/robot_viewer.png

The key features of Robot viewer are: Robot view, Motion View, Log view, and Dialog view.

To display the Robot viewer, see: Run Robot Viewer.

Robot view

The Robot view toolbar displays the buttons for the following functions.

_images/5.5.image2_robot_viewer.png
Button Description
image38 Hide or show information data such as FPS and triangles displayed.
image39 Hide or show objects stored in memory by the ALWorldRepresentation module.
image40 Disable tracking of the robot position in the world.
image41 Disable tracking of actuator values.
image42 Hide or show the areas defined by ALEngagementZones module.
image43 Hide or show people detected by ALPeoplePerception module.

Motion View

Motion View lets you modify the joint values of each limb.

image44

Index Name Description
1 Slider Allows you to adjust the joint value.
2 Current joint value

The color indicates if the requested value has been reached.

Green indicator means the current joint value equals to the last requested value.

Blue indicator means that the joint value is not (or not yet) the requested value. It could be because

  • the command execution is still ongoing.
  • the joint cannot reach the requested value due to an obstacle such as another body part or a wall blocking its way.
3 Record button

Saves the defined value, when a Timeline box is currently opened.

This button can be:

  • Grey: you cannot store joint values because you are not currently editing a Timeline box.
  • Black: the current joint value is not stored at the current selected frame.
  • Black and red: the current joint value is being stored at the current selected frame.
4 Stiffen chain on/off button

Sets on/off the Stiffness of the whole selected chain of joints (Head, Arm or Leg).

This button can be:

  • Green: Stiffness off, you can move this part manually on the real robot, but commands have no effect.
  • Orange: intermediate state depending on the Stiffness value.
  • Red: Stiffness on, the robot is able to move this part when requested, but you cannot move it manually.
5 Mirroring option

If selected, actions (send a command value, register a joint value, etc) are also executed on the symmetric limb.

For example left and right arms will move the same way.

Log view

Log view displays the log messages generated from robot actions to aid you debug your application. You can select the log level to display.

image45

Dialog view

Dialog view provides a visual interface between you and your robot that lets you send dialog messages to your robot.

image46

Run Robot Viewer

Robot viewer is run automatically when a robot is connected to your plugin.

If there is no robot connected, a message will be shown in the Timeline editor saying: “Animation Creator needs to connect to a Robot Emulator or an actual Robot”.

To connect to your robot and run Robot viewer:

Step Action
click the message and the dialog below will appear.

Click the configuration you want and Robot viewer will launch when connected.

_images/5.5.image1_connect_robot.png