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Update bubbleRobTutorial.htm #3

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lianghongzhuo Oct 23, 2020
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lianghongzhuo Oct 23, 2020
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lianghongzhuo Aug 20, 2021
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2 changes: 1 addition & 1 deletion en/bubbleRobTutorial.htm
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Expand Up @@ -33,7 +33,7 @@ <h1>BubbleRob tutorial</h1>

<p>Now we open the <a href="positionDialog.htm">position dialog</a> on the <strong>translation</strong> tab, select the sphere representing <em>BubbleRob's</em> body, and enter 0.02 for <strong>Along Z</strong>. We make sure that the<strong> Relative to</strong>-item is set to <strong>World</strong>. Then we click <strong>Translate selection</strong>. This translates all selected objects by 2 cm along the absolute Z-axis, and effectively lifted our sphere a little bit. In the <a href="userInterface.htm#SceneHierarchy">scene hierarchy</a>, we double-click the sphere's alias, so that we can edit it. We enter <em>bubbleRob</em> and press enter.</p>

<p>Next we will add a <a href="proximitySensors.htm">proximity sensor</a> so that <em>BubbleRob</em> knows when it is approaching obstacles: we select [Menu bar --&gt; Add --&gt; Proximity sensor --&gt; Cone type]. In the <a href="orientationDialog.htm">orientation dialog</a> on the <strong>orientation</strong> tab, we enter 90 for <strong>Around Y</strong> and for <strong>Around Z</strong>, then click <strong>Rotate selection</strong>. In the <a href="positionDialog.htm">position dialog</a>, on the <strong>position</strong> tab, we enter 0.1 for <strong>X-coord.</strong> and 0.12 for <strong>Z-coord.</strong> The proximity sensor is now correctly positioned relative to <em>BubbleRob's</em> body. We double-click the proximity sensor's icon in the <a href="userInterface.htm#SceneHierarchy">scene hierarchy</a> to open <a href="proximitySensorPropertiesDialog.htm">its properties</a> dialog. We click <strong>Show volume parameter </strong> to open the <a href="proximitySensorVolumeDialog.htm">proximity sensor volume dialog</a>. We adjust items <strong>Offset</strong> to 0.005, <strong>Angle</strong> to 30 and <strong>Range</strong> to 0.15. Then, in the <a href="proximitySensorPropertiesDialog.htm">proximity sensor properties</a>, we click <strong>Show detection parameters</strong>. This opens the <a href="proximitySensorDetectionParameterDialog.htm">proximity sensor detection parameter dialog</a>. We uncheck item <strong>Don't allow detections if distance smaller than</strong> then close that dialog again. In the scene hierarchy, we double-click the proximity sensor's alias in order to edit it. We enter <em>sensingNose</em> and press enter.<br>
<p>Next we will add a <a href="proximitySensors.htm">proximity sensor</a> so that <em>BubbleRob</em> knows when it is approaching obstacles: we select [Menu bar --&gt; Add --&gt; Proximity sensor --&gt; Cone type]. In the <a href="orientationDialog.htm">orientation dialog</a> on the <strong>Rotation</strong> tab, we enter 90 for <strong>Around Y</strong> and for <strong>Around Z</strong>, then click <strong>Rotate selection</strong>. In the <a href="positionDialog.htm">position dialog</a>, on the <strong>position</strong> tab, we enter 0.1 for <strong>X-coord.</strong> and 0.12 for <strong>Z-coord.</strong> The proximity sensor is now correctly positioned relative to <em>BubbleRob's</em> body. We double-click the proximity sensor's icon in the <a href="userInterface.htm#SceneHierarchy">scene hierarchy</a> to open <a href="proximitySensorPropertiesDialog.htm">its properties</a> dialog. We click <strong>Show volume parameter </strong> to open the <a href="proximitySensorVolumeDialog.htm">proximity sensor volume dialog</a>. We adjust items <strong>Offset</strong> to 0.005, <strong>Angle</strong> to 30 and <strong>Range</strong> to 0.15. Then, in the <a href="proximitySensorPropertiesDialog.htm">proximity sensor properties</a>, we click <strong>Show detection parameters</strong>. This opens the <a href="proximitySensorDetectionParameterDialog.htm">proximity sensor detection parameter dialog</a>. We uncheck item <strong>Don't allow detections if distance smaller than</strong> then close that dialog again. In the scene hierarchy, we double-click the proximity sensor's alias in order to edit it. We enter <em>sensingNose</em> and press enter.<br>
</p>

<p>We select <em>sensingNose</em>, then control-select <em>bubbleRob</em>, then click [Menu bar --&gt; Edit --&gt; Make last selected object parent]. This attaches the sensor to the body of the robot. We could also have dragged <em>sensingNose</em> onto <em>bubbleRob</em> in the scene hierarchy. This is what we now have:<br>
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