IMOROD User Guide
Contents
1. lt EI El El reset view Angle filter 0 45 90 l EN mM E El l E m X snap connectors Untitled Save Configuration Quit Figure 2 2 The main window of the Furniture Design pack 2 1 2 Displaying only the outline of the modules To display only the outline of the modules check the Wireframe check box see Figure 2 2 This can be useful to see hidden parts of the scene 2 2 Manipulating the scene The manipulation of the scene can be done either with the mouse or for those not very familiar with it with a set of buttons on the tools palette see Figure 2 3 The manipulation of the scene with the mouse is only available when no module is selected otherwise the manipulation of the selected module will be enabled 2 2 Manipulating the scene pe Furniture Desi 2 x New Configuration Load Configuration lt Add module Remove module Angle filter 0 45 90 I Wireframe If Full screen snap connectors Lntitied Save Configuration Quit Figure 2 3 The movement panel a set of buttons for manipulating the scene 2 2 1 Translating the scene To translate the scene right click drag it You can also use the arrow buttons on the Tools palette see Figure 2 3 2 2 2 Rotating the scene To rotate the scene left click drag it If you wish to rotate the scene only around a specified axis use2. Load configuration see Figure 2 9 This will display a new window with the list of saved configurations see Figure 2 10 Select the desired configuration and click the OK button Furniture Desig lt Add module Remove module CCW CW El EI El El El reset view Angle filter 0 45 90 l E a I I Lf Wireframe L Full screen X snap connectors Lntitied Save Configuration Quit Figure 2 9 The New configuration and Load configuration buttons 2 4 4 Deleting a configuration When you click the Load configuration button and display the list of the saved configurations Figure 2 10 you can see a Delete configuration button By clicking this button you delete the selected configuration It will be deleted from the list and from the hard disk XML file so it will never be loadable again 10 2 4 Playing with configuration E Robot EL Wheel T Guadruped Ef Chair Delete configuration Es Figure 2 10 The dialog for loading and deleting configurations 2 4 5 Closing the Window To close the window and go back to the module selection window press the Quit button see Figure 2 11 New Configuration Load Configuration lt Add module Remove module a J al El E El reset view Angle filter 0 45 90 l I I Lf Wireframe L Full screen X snap connectors Untitled Save Configura
3. Or 4 Ot Os 00 6 CONTENTS 2 4 3 Loading a configuration lt lt an ss sa ope 10 2 4 4 Deleting a configuration 10 2 4 5 Closing the Window 10 3 Arrange a room 13 4 Visualize reconfiguration 14 Introduction 1 1 What s IMOROD Li stands for Interface for MOdular RObots Design IMOROD is a 3D in terface meant to very easily assemble robotic modules to build complex modular structures It has been designed originally in the framework of the project Roombots to intuitively create furniture made with Roombots robot modules but can be extended to the design of any modular robotic structure Everyone can use IMOROD with at most 3 minutes training the time needed to read that user guide Load Configuration lt Add module Remove module Ea EN y E El El El E reset view Angle filter 0 45 90 L I Wireframe X snap connectors Untitea Save Configuration Quit 1 2 General structure of the program 1 2 General structure of the program IMROD is split into three modules or if you prefer three packs of functionalities The three modules are called e Furniture Design e Room Arrangement Design e Reconfiguration Visualization This implies three different windows The Furniture Design window contains every tools necessary for the user to manipulate and connect modules in a scene in order to co
4. IMOROD User Guide o m0 O o z INSA LYON COLE POLYTECHNIQUE BIOLOGICALLY INSPIRED FEDERALE DE LAUSANNE ROBOTICS GROUP BIRG S bastien GAY Department of Computer Science Institute of applied sciences INSA Lyon Program under GNU GPL License 2007 Contents 1 Introduction 2 Designing a Furniture 2 1 22 2 3 2 4 Some visualization options 2 1 1 Displaying the application in full screen 2 1 2 Displaying only the outline of the modules Manipulating the scene 2 2 1 Translating the scene oaoa a 2 2 2 Rotating the scene 2 2 9 Zooming The Scene sses sis s sde see ae se 2 2 4 Resetting the view Manipulating the modules 2 3 1 Adding Removing a module 2 3 2 Selecting Unselecting a module 2 3 3 Moving a module in the scene 2 3 3 1 Translating a module 2 3 3 2 Rotating a module 2 3 4 Rotating the servo of a module 2 3 5 Connecting Disconnecting two modules Playing with configuration 2 4 1 saving the current configuration 2 4 2 Creating a new configuration Bj E O o Ome 00 00 A Ss A me eS A
5. d Save Configuration Quit Figure 2 4 The valid moves of the simplified modules Left rolling around one module right moving on a surface 2 3 Manipulating the modules 2 3 2 Selecting Unselecting a module To select a module that has been added to the scene simply click on it The selected module then appears with a red selection box around it see Figure 2 5 To unselect a selected module click on it again If you click on a non selected module while another module is selected the selected module is deselected and the new module is selected Only one module can be selected at a time Figure 2 5 A selected module is surrounded by a red selection box 2 3 3 Moving a module in the scene 2 3 3 1 Translating a module To translate a module select it and right button mouse drag it 2 3 3 2 Rotating a module To translate a module select 1t and right button mouse drag it When a module is connected to another one you can only rotate it on the axis of the connector You can set a step for the angle of rotation by using the slider on the tool palette see Figure 2 6 For instance if you select 45 the modules can only be connected by an angle which is a multiple of 45 ie 45 0 45 90 135 2 3 4 Rotating the servo of a module To rotate the servo of a module select it and use CTRL left button click and drag the mouse up or down NB When a set of modules is connected to
6. ew Configuration Load Configuration lt Add module Remove module a Ej reset view Angle filter 0 45 90 Ve 1 I L Wireframe L Full screen Untitled Save Configuration Quit EN El E w El El Figure 2 7 The check box to enable the snap connectors mode that you can click on the Save configuration button The configuration is added to the configuration list and saved as an XML file exportable to the reconfiguration computation software and convertible in a Webots file X Furniture Desi j j New Configuration Load Configuration lt Add module Remove module CCW lt A El reset view Angle filter 0 45 90 y 1 I Lf Wireframe If Full screen xj snap connectors Quit l El E EN El El Figure 2 8 The Save configuration button and text field for the name of the configuration 2 4 Playing with configuration 2 4 2 Creating a new configuration Once you have saved your current configuration or when you want to discard the work currently done you can click the New configuration button see Figure 2 9 This empties the scene and resets the name of the current configuration to untitled You can start over the building of a new configuration 2 4 3 Loading a configuration If you want to load a previously saved configuration for visualizing or modifying it click the
7. mpose a more complex structure The Room Arrangement window is dedicated to the positioning of previously created furniture in a virtual room The Reconfiguration Visualization is useful for visualizing the robot reconfiguring transforming from one shape to another according to a previously computed sequence The relevant window can be chosen by the user at application startup on the Module Selection window q Module selection Design a furniture Arrange a roo View a reconfiguration sequence Guit Figure 1 1 The Module Selection window This document gives step by step the actions that can be done in each of these three windows using IMOROD Desiening a Furniture T HIS chapter explains how to easily create a modular configuration using IMOROD The main window contains two regions view Figure 2 1 The left one is the scene It s here that the robot is actually created the modules moved and assembled The right one is a tool palette It contains all controls needed to interact with the scene S Furniture Design amn es at Figure 2 1 The main window of the Furniture Design pack 2 1 Some visualization options 2 1 Some visualization options 2 1 1 Displaying the application in full screen To switch between full screen and window mode check or uncheck the Full screen check box see Figure 2 2 New Configuration Load Configuration lt Add module Remove module CCW
8. the following e CTRL mouse wheel rotate around the X axis e ALT mouse wheel rotate around the Y axis e SHIFT mouse wheel rotate around the Z axis You can also use the CW clock wise and CCW counter clock wise buttons on the Tools palette see Figure 2 3 2 2 3 Zooming the scene To zoom the scene in or out simply use the mouse wheel If you don t have a mouse wheel or if you want a more precise zoom you can click on the middle button and drag the mouse 2 3 Manipulating the modules up or down You can also use the zoom in and zoom out buttons on the Tools palette see Figure 2 3 2 2 4 Resetting the view To reset the scene to the default view press the Reset view button of the tools palette see Figure 2 3 2 3 Manipulating the modules 2 3 1 Adding Removing a module You can visualize the current module in the top part of the tool palette see Figure 2 4 You can rotate this preview using the mouse To add a module click on the lt Add module button This adds a module at the center of the scene If you want to delete a previously added module select it refer to section 2 3 2 for more details and either press the Delete module button or press the Del key of your keyboard LES Furniture Desi New Configuration Load Configuration cow w Ej H p E H E Angle filter 0 45 90 I _ wireframe E Full screen X snap connectors Untitle
9. the selected module and 2 4 Playing with configuration py pe mal pe Furniture Desi New Configuration Load Configuration lt Add module Remove module CCW lt a Ej reset view ap ow El El El El L Wireframe If Full screen snap connectors Untitled Save Configuration Quit Figure 2 6 The slider to set the step of connection angle you rotate it s servo all the connected subset will also rotate 2 3 5 Connecting Disconnecting two modules To connect modules to each other you have to be in snap connectors mode To enable this mode check the corresponding check box on the tools palette see Figure 2 7 When the snapping of connectors is enabled to connect two modules move one of the modules in contact to the other one They will automatically snap and connect by their nearest connectors To disconnect two modules select one of them and move it quickly away from the other one If you move it too slowly they will just stay connected This is meant to avoid unwanted disconnections 2 4 Playing with configuration 2 4 1 saving the current configuration To save the current configuration you have to first chose a name for it Type this name in the text field just above the Save configuration button see Figure 2 8 Once you have done 2 4 Playing with configuration pe Furniture Desi mu x N
10. tion Figure 2 11 The dialog for loading and deleting configurations 11 Arrange a room U NDER development Visualize reconfiguration U NDER development
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