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General keyboard commands
Most commands are given by pressing a single key on the keyboard while
the mouse pointer is inside the graphics window. Make sure that the
graphics window is in input/selection mode. (If keyboard commands
seem not to work, either click on the arrow in the top right corner of
the graphics window or press ESC while the mouse pointer is in the
graphics window.) For some commands below, the key to be pressed is
in parentheses.
- ESC
- Switch between camera control (examination mode) and
keyboard/mouse control (input/selection mode). In examination mode,
the mouse can be used to rotate/move/zoom the entire scene.
Keyboard/mouse mode is necessary to invoke all other commands below.
- F1
- Toggle parameter/Cartesian/target mode (see
).
- F2
- Invokes the planner on all successive pairs of key
configurations in the 'Plan config' list (see
). Upon success, the planner inserts
additional, non-key configurations into the 'Plan config' list to
make it a collision-free path.
- F3
- Smoothes the path in 'Plan config'. The smoother does not
remove key configurations.
- F4
- Plan + smoothe (equals pressing F2 and then F3)
- F5
- Start/stop animation of the path in 'Plan config'.
- F6
- Reset animation (move to first configuration in 'Plan config')
- F11
- Freeze/unfreeze current link. This affects the currently
selected (picked) joint (see ).
- F12
- Freeze/unfreeze currently selected (picked) robot (see
).
- SPACE
- Change the value of the control step size. This value
affects the robot's position control. Pressing SPACE iterates
through a set of possible values, in powers of 10.
- NUM5
- Identical to SPACE.
- (D)elta
- Change the collision checker delta-value. This is a
minimum workspace clearance required to bound the running time of
the adaptive collision checker. Also, if compiled with
DO_TOLERANCE_TEST, this value is used in the tolerance test of the
simple (constant epsilon) segment checker. After pressing 'D', move
the mouse pointer to the shell window and enter a new value.
- (E)psilon
- (may not appear if compiled with ADAPT_COLLCHECKER).
Change the segment collision checker epsilon value. This is the
(constant) c-space resolution for the simple segment checker. After
pressing E, move the mouse pointer to the shell window and enter a
new value.
- (R)ho
- Change sampling window size of the planner. This is the
size of the window (for each DOF) within which the local neighbors
of a milestone are sampled. After pressing 'R', move the mouse
pointer to the shell window and enter a new value.
- (M)ax. planner iter.
- Change the maximum number of planner
iterations. When reaching this number without having found a path,
the planner gives up. To change the value, press 'M', move the mouse
pointer to the shell window and enter a new value. The default
value works for many simple planning problems. For difficult
planning problems, one may need to increase this parameter to a
higher value.
- Sm(O)othe steps
- Change the number of attempted shortcut steps
performed by the path smoother. This parameter does only affect the
smoother. After pressing 'O', move the mouse pointer to the shell
window and enter a new value.
- (A)nimsteps (max.)
- Change the animation speed (higher values
result in slower animation). After pressing 'A', move the mouse
pointer to the shell window and enter a new value.
- Sample (F)ree random config
- Sample a random free configuration
for the current configuration shown in the graphics window. Note:
this changes the configuration that is displayed in the graphics
window but does not affect the 'Plan config' and 'Database config'
lists.
- (B)ounding boxes (OBB/RSS/off)
- Toggle the displayed bounding
volumes. By default, the top-level bounding volumes of all
robots/obstacles are shown only. Use the '-b' option (see
) to show BVs of a different level
instead. Note that RSSs are not shown as RSSs. Instead, their
smallest enclosing OBBs are shown. Pressing 'B' repeatedly several
times shows OBBs, then slightly bigger OBBs (those enclosing the
RSSs), next no BVs, then again OBBs and so on.
- (T)raced end-effector path on/off
- Show/hide the paths traced by
all robots' trace points (see documentation on how to create new
robots in doc/mpk_new/index.html).
- (I)mage snapshot...
- Save a snapshot of the current scene (Unix
version only). This requires the ImageMagick program 'convert' be
installed. After pressing 'I', move the mouse pointer to the shell
window and enter a file name, e.g., 'test.jpg'.
- (V)ideo file name
- Use this command to enter a file name (e.g.,
'test.jpg') if you would like to create a sequence of snapshots
during animation (useful for creating videos). Sequential numbers
will be added to distinguish the files. Set the file name to '-' to
disable dumping video frames. Note: like the 'Image snapshot'
option above, this option requires the 'convert' program.
Furthermore, it will slow down the animation considerably (for each
frame, an image file will be saved). To enter the video file name,
press 'V' and then move the mouse pointer inside the shell window.
- (Q)uit
- Exits the program. The current configuration database
'Database config' is saved in a file. By default, this file has
the same name base as the scene file plus a '.conf' extension. An
alternative name can be specified using the '-db' option.
Next: Configuration database and task
Up: Keyboard commands and mouse
Previous: Keyboard commands and mouse
Mitul Saha
2003-03-10