Editing the Scene

The world in Robot Simulator consists of your robot, the flat floor and any object you may add to you scene, objects in the scene can include simple objects like cubes, cylinders, spheres etc.

Objects in the scene can be static or movable, static objects may be collided with but do not change their position, movable objects can be collided with, can be moved by the robot and can change their position.

To change your scene press E or press Edit Scene on the main toolbar.

Adding Objects

To add objects press the Add Object icon on the toolbar, and select the type of object you wish to add from list.

Press Accept to add your object, it will be added in front of your view, and the object is selected by default.

Now you can drag it sround using your mouse, to move it up or down press the Y icon on your tollbar, and then move the object up or down, to move in X,Y press the Move Object icon.

Selected objects can be moved, scaled or rotated.

To scale an object press the Scale Object icon after selecting your object, then drag left or right with your mouse, to scale it uniformly, to scale one of the dimensions press either the X, Y, Z icons, and then scale the selected dimension.

To restore object scale, press the Reset Transform icon, to restore object scale and position press Reset Transform.

To set the object on the floor press the Set On Floor icon, to make the object static or free press the Toggle Fixed/Free icon, to delete the object press Delete Object.

Pressing the Show Tools icon, or the button T will exit the edit scene mode.

Editing the Robot

Robots in Robot Simulator are made of components, a component can be the drive unit, the arm, the sensor unit, or anything you can think of, you can change which components make your robot with the Robot Editor dialog.

Press the Edit Robot icon on your toolbar to show the Robot Editor dialog.

On the left side of this dialog you see the available robots, to edit one of them select it from the left side and press Load Robot, it will appear in front of you and it's data will appear on the right side of the dialog.

To add a component select it from the list of available components on the right side and press Add Component.
To remove component select it from the list of existing compoents and press Remove Component.

To move a component, select it from the list of existing components and then move the X,Y,Z sliders until you get the component where you want it to be, any robot needs at least one component to be valid.

To save the robot fill robot name, then press Save Robot.
To create a new robot press New Robot and then add the compoents you wish to add to it, finally save the robot under the name you provide.

For the sake of simplicity components cannot be rotated or scaled, only component position can be changed.

To edit a component or create a new component select the component from the list of existing compoents and press Edit compoent, if there is no component selected the entire robot will be saved as a new component and you will be able to edit this new component.

 

Editing Compoents

When you press Edit Compoent from the top menu you see the compoent editor dialog, also when you press the Edit Component button inside the compoent editor.

Pressing Edit compoent without selecting a component first will cause the whole robot to be saved as one component, this can be useful if you wish to create a complicated compoent from existing parts.

When the Edit Component dialog opens it contains the component you selected to edit, or a new component made from the entire robot, if you wish to edit another component or create a new one proceed as described below.

To edit one of the available components, select it from the list on the right side and press Load Component.
To create a new component press New Component or save your work in a different name by entering it inside the compoent name textbox and pressing Save Component.

Adding Parts

Components have parts, joints, lights and sounds, you can add or remove these by using this editor, but the names of inputs and axes are selected automatically by the program when you save your component, for advanced user it is recommended to check the component file itself and modify things like axes names, motion ranges and more.

Each part can be selected directly on the robot by clicking upon it, or on the list of existing parts, when the part is selected it's preview will appear and it will be selected from the list of existing parts.

When a part is selected it can be edited, moved, scaled or rotated using the sliders on the right side of the dialog, selecte the type of property you wish to change by pressing the appropriate tab first, then move the sliders.

Parts can be static or dynamic, dynamic parts take part in the robot physical behavior, can be attached to joints, moved and collided with, static ( dummy ) parts are only loaded for visual purpose but do not take part in the component itself.

To add a static part select it from the list of available parts and then press Add Dummy, dummy parts can be moved, scaled and rotated but not selected as part of any joint.

Adding Joints

All dynamic objects in a component should be connected by joints so they do not fall off the component as it moves, joints connect two parts together, the parent part A to the child part B.

To create a joint select one of the parts then press Set Object A ( for parent ) or Set Object B ( for child ), then select the joint tyle from list, then press Add Joint, only one joint is permitted between two parts.

Before deleting any part the joint connecting it to another part must be deleted, it is recommended to add the joints after you have completed to edit your parts rather than adding and deleting joints.

After adding the joint you can select it and move it to the desired position, so that the object B rotates around the joint position and not around it's own center.

Joints Types

Joints have different types according to the intended function of the joint, and intended input you wish to make for it, the following types are supported by Robot Simulator:

Fixed - Parts are attached to each other, no movement between parts is possible, no input can be made to this joint.

Ball - Parts are attached by a single point which is free to rotate in all directions, no input can be made to this joint.

HingeX - Parts are attached by an axis which has a rotation around the X axis, input is made of rotation around this axis, to change input to speed instead of rotation edit the component file and change "angle1" to "speed1".

HingeY - Parts are attached by an axis which has a rotation around the Y axis, input is made of rotation around this axis, to change input to speed instead of rotation edit the component file and change "angle1" to "speed1".

HingeZ - Parts are attached by an axis which has a rotation around the Z axis, input is made of rotation around this axis, to change input to speed instead of rotation edit the component file and change "angle1" to "speed1".

Hinge2 - Parts are attached by two axes of rotation, one around the Y axis, the other around the X axis, for example the front wheel of a car, which can rotate around Y to allow steering and around X to allow roll, two inputs are made for this axis, one of angle and one of speed.

SliderX - Parts are attached by an axis which has a motion along the X axis, input is made of position along this axis, to change input to speed instead of position edit the component file and change "angle1" to "speed1".

SliderY - Parts are attached by an axis which has a motion along the Y axis, input is made of position along this axis, to change input to speed instead of position edit the component file and change "angle1" to "speed1".

SliderZ - Parts are attached by an axis which has a motion along the Z axis, input is made of position along this axis, to change input to speed instead of position edit the component file and change "angle1" to "speed1".

UniverX - Parts are attached by two axes of rotation, one around the Y axis, the other around the Z axis, two angle inputs are made for this axis.

UniverY - Parts are attached by two axes of rotation, one around the Z axis, the other around the X axis, two angle inputs are made for this axis.

UniverZ - Parts are attached by two axes of rotation, one around the X axis, the other around the Y axis, two angle inputs are made for this axis.

Adding Lights

You can add red or green lights, and edit their positions, to add a red light press Add Red then change it's position using the position sliders, to add a green light press Add Green.

Sounds are not edited by the component editor but can be added directly inside the component file.

Editing the File

Sometimes it is useful to simple edit the component file using a text editor and make quick changes, then load it again and complete the placement of joints and parts.

For such case press the Edit File and make the changes you need, then save the file and reload this component.