{"type":"doc","content":[{"type":"paragraph","content":[{"text":"In this tutorial, you will take the mechanism created in ","type":"text"},{"text":"Getting Started Tutorial 3 : Creating a Mechanism","type":"text","marks":[{"type":"link","attrs":{"__confluenceMetadata":{"spaceKey":"VSD2310","isRenamedTitle":true,"linkType":"page","contentTitle":"Getting Started Tutorial 3 : Creating a Mechanism","versionAtSave":"5"},"href":"https://vortexstudio.atlassian.net/wiki/spaces/VSD2310/pages/3382546927"}}]},{"text":" and give it life by motorizing parts, giving the mechanism interactive controls, and more. You will further enhance the simulation by connecting an input device and using a Python script to modify the functionality.","type":"text"}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"Prerequisites","type":"text"}]},{"type":"paragraph","content":[{"text":"You need to have Vortex® Studio and the Vortex Studio Demo Scenes installed to be able to follow all steps in this tutorial.","type":"text"}]},{"type":"paragraph","content":[{"text":"Additionally, a working knowledge of the Python coding language will be useful, but is not fully required. It is also commended to have an X-input gamepad connected to the computer.","type":"text"}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"Motorizing Constraints","type":"text"}]},{"type":"paragraph","content":[{"text":"In this step, we will ","type":"text"},{"text":"assign motor properties","type":"text","marks":[{"type":"link","attrs":{"__confluenceMetadata":{"isRenamedTitle":true,"linkType":"page","contentTitle":"Constraints","anchorName":"EditingConstraintProperties","versionAtSave":"2"},"href":"https://vortexstudio.atlassian.net/wiki/spaces/VSD2310/pages/3382550752#Constraints-EditingConstraintProperties"}}]},{"text":" to some of the constraints to make the forklift move.","type":"text"}]},{"type":"orderedList","attrs":{"order":1},"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Double-click on the assembly to open it, if not already there.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Motorize the rear wheels by selecting the ","type":"text"},{"text":"Rear Wheels [H] Rear Wheel Castor","type":"text","marks":[{"type":"em"}]},{"text":" constraint. Select the ","type":"text"},{"text":"Controlled Axes","type":"text","marks":[{"type":"em"}]},{"text":" tab under the Input section of the ","type":"text"},{"text":"Properties","type":"text","marks":[{"type":"em"}]},{"text":" panel, then set the Control to ","type":"text"},{"text":"Motorized","type":"text","marks":[{"type":"strong"}]},{"text":" using the drop down menu. Finally, set the ","type":"text"},{"text":"Desired Velocity","type":"text","marks":[{"type":"em"}]},{"text":" to 90 °/s.","type":"text"},{"type":"hardBreak"}]},{"type":"mediaSingle","attrs":{"layout":"align-start","width":28.0},"content":[{"type":"media","attrs":{"__fileSize":23079,"__fileMimeType":"image/png","width":395,"id":"768e30d0-9fa5-4cf9-89fb-c01cf6a9eae9","collection":"contentId-3382546597","type":"file","__fileName":"image2020-10-6_11-33-59.png","height":413}}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Next, motorize the steering. Select the ","type":"text"},{"text":"Rear Wheel Castor [H] Body","type":"text","marks":[{"type":"em"}]},{"text":" constraint. Select the ","type":"text"},{"text":"Controlled Axes","type":"text","marks":[{"type":"em"}]},{"text":" tab under the Input section of the Properties panel. Set Control to ","type":"text"},{"text":"Motorized","type":"text","marks":[{"type":"strong"}]},{"text":" using the drop-down menu.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Switch to the mechanism tab and test it to see that the forklift rolls forward.","type":"text"}]}]}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"Adding a Joystick Extension","type":"text"}]},{"type":"paragraph","content":[{"text":"In this step, we will add a joystick that we will use to control the forklift.","type":"text"}]},{"type":"orderedList","attrs":{"order":1},"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Go back to the Forklift mechanism tab.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Select ","type":"text"},{"text":"Input Devices","type":"text","marks":[{"type":"strong"}]},{"text":" in the ","type":"text"},{"text":"Toolbox","type":"text","marks":[{"type":"link","attrs":{"__confluenceMetadata":{"isRenamedTitle":true,"linkType":"page","contentTitle":"Toolbox","versionAtSave":"1"},"href":"https://vortexstudio.atlassian.net/wiki/spaces/VSD2310/pages/3382548133"}}]},{"text":" and add a ","type":"text"},{"text":"Joystick","type":"text","marks":[{"type":"strong"}]},{"text":".","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Interact with the joystick hardware to see generated position data in the ","type":"text"},{"text":"Properties","type":"text","marks":[{"type":"em"}]},{"text":" panel.","type":"text"}]}]}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"Adding Connections","type":"text"}]},{"type":"paragraph","content":[{"text":"In this step, we will ","type":"text"},{"text":"connect","type":"text","marks":[{"type":"link","attrs":{"__confluenceMetadata":{"isRenamedTitle":true,"linkType":"page","contentTitle":"Connection Editor","versionAtSave":"1"},"href":"https://vortexstudio.atlassian.net/wiki/spaces/VSD2310/pages/3382548345"}}]},{"text":" the joystick's outputs to the motorized constraints so that we can drive the forklift around.","type":"text"}]},{"type":"orderedList","attrs":{"order":1},"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Add a connection container by selecting ","type":"text"},{"text":"Basics","type":"text","marks":[{"type":"strong"}]},{"text":" from the ","type":"text"},{"text":"Toolbox","type":"text","marks":[{"type":"link","attrs":{"__confluenceMetadata":{"isRenamedTitle":true,"linkType":"page","contentTitle":"Toolbox","versionAtSave":"1"},"href":"https://vortexstudio.atlassian.net/wiki/spaces/VSD2310/pages/3382548133"}}]},{"text":". Double-click ","type":"text"},{"text":"Connection Container","type":"text","marks":[{"type":"link","attrs":{"__confluenceMetadata":{"isRenamedTitle":true,"linkType":"page","contentTitle":"Connection Editor","versionAtSave":"1"},"href":"https://vortexstudio.atlassian.net/wiki/spaces/VSD2310/pages/3382548345"}}]},{"text":" to add it to the ","type":"text"},{"text":"Explorer","type":"text","marks":[{"type":"strong"}]},{"text":" panel. This will also open the Connection Editor, replacing the 3D View in the main window.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"In the ","type":"text"},{"text":"Explorer","type":"text","marks":[{"type":"strong"}]},{"text":" panel, select the joystick extension. Then in its ","type":"text"},{"text":"Properties","type":"text","marks":[{"type":"strong"}]},{"text":" panel, select ","type":"text"},{"text":"AxisZRot","type":"text","marks":[{"type":"em"}]},{"text":" and drag it into the Connection Editor in the main window.","type":"text"},{"type":"hardBreak"}]},{"type":"mediaSingle","attrs":{"layout":"align-start","width":15.0},"content":[{"type":"media","attrs":{"__fileSize":7410,"__fileMimeType":"image/png","width":204,"id":"7b5f7c0d-bbe7-4226-b261-3f0f9c87fe2b","collection":"contentId-3382546597","type":"file","__fileName":"image2020-10-6_11-34-11.png","height":94}}]},{"type":"paragraph","content":[{"text":" ","type":"text"}]},{"type":"mediaSingle","attrs":{"layout":"align-start","width":15.0},"content":[{"type":"media","attrs":{"__fileSize":3284,"__fileMimeType":"image/png","width":192,"id":"55ebe817-f43d-41dd-b9e4-f64397e5a4b9","collection":"contentId-3382546597","type":"file","__fileName":"image2020-10-6_11-34-19.png","height":118}}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"In the Explorer panel, select the ","type":"text"},{"text":"Rear Wheels [H] Read Wheel Castor","type":"text","marks":[{"type":"em"}]},{"text":" constraint. In its Properties panel, drag and drop ","type":"text"},{"text":"Desired Velocity","type":"text","marks":[{"type":"strong"}]},{"text":" (found under the Motor sub-section of the ","type":"text"},{"text":"Controlled Axes","type":"text","marks":[{"type":"em"}]},{"text":" tab) to the connection container. Connect the ","type":"text"},{"text":"AxisZRot","type":"text","marks":[{"type":"em"}]},{"text":" output to the Desired Velocity input by dragging a line between the green circles of the output and the input.","type":"text"},{"type":"hardBreak"}]},{"type":"mediaSingle","attrs":{"layout":"align-start","width":42.0},"content":[{"type":"media","attrs":{"__fileSize":26588,"__fileMimeType":"image/png","width":554,"id":"77de4cb6-530a-4a2a-8a3a-f9d69ff1af9a","collection":"contentId-3382546597","type":"file","__fileName":"image2020-10-6_11-34-27.png","height":197}}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Create a second connection for steering between the ","type":"text"},{"text":"AxisX","type":"text","marks":[{"type":"em"}]},{"text":" property of the joystick and the ","type":"text"},{"text":"Rear Wheel Castor [H] Body","type":"text","marks":[{"type":"em"}]},{"text":" constraint's Desired Velocity.","type":"text"},{"type":"hardBreak"}]},{"type":"mediaSingle","attrs":{"layout":"align-start","width":33.0},"content":[{"type":"media","attrs":{"__fileSize":45802,"__fileMimeType":"image/png","width":593,"id":"60712dc6-6c60-4e35-8c21-dea5893050db","collection":"contentId-3382546597","type":"file","__fileName":"image2020-10-6_11-34-35.png","height":336}}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Switch to the 3D View tab of the mechanism and test it. Move the joystick axes to see the forklift drive. While the forklift moves, there is no way to modify the speed limits when the joystick is directly connected to the constraints; this requires scripting. Note that the lift graphics are not connected to any parts so they don't move.","type":"text"}]}]}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"Python Scripting","type":"text"}]},{"type":"paragraph","content":[{"text":"In this step, we will create a simple ","type":"text"},{"text":"Python script","type":"text","marks":[{"type":"link","attrs":{"__confluenceMetadata":{"isRenamedTitle":true,"linkType":"page","contentTitle":"Python 3 Scripting Extension inside Dynamics Content","versionAtSave":"11"},"href":"https://vortexstudio.atlassian.net/wiki/spaces/VSD2310/pages/3382558257"}}]},{"text":" to control the forklift. It will take input signals from the joystick extension, process them, and send out the result as outputs to the various constraints.","type":"text"}]},{"type":"orderedList","attrs":{"order":1},"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Select ","type":"text"},{"text":"Scripting","type":"text","marks":[{"type":"strong"}]},{"text":" from the ","type":"text"},{"text":"Toolbox","type":"text","marks":[{"type":"link","attrs":{"__confluenceMetadata":{"isRenamedTitle":true,"linkType":"page","contentTitle":"Toolbox","versionAtSave":"1"},"href":"https://vortexstudio.atlassian.net/wiki/spaces/VSD2310/pages/3382548133"}}]},{"text":" and add a ","type":"text"},{"text":"Dynamics Script","type":"text","marks":[{"type":"strong"}]},{"text":" to the Explorer by double-clicking on it.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Right click ","type":"text"},{"text":"Edit","type":"text","marks":[{"type":"strong"}]},{"text":" on the newly added script in the Explorer. In the resulting dialog panel, add inputs and outputs shown below using the ","type":"text"},{"text":"Add","type":"text","marks":[{"type":"strong"}]},{"text":" buttons. When finished, click ","type":"text"},{"text":"Ok","type":"text","marks":[{"type":"strong"}]},{"text":".","type":"text"}]},{"type":"paragraph","content":[{"type":"inlineExtension","attrs":{"extensionType":"com.atlassian.confluence.migration","extensionKey":"__confluenceADFMigrationUnsupportedContentInternalExtension__","text":"","parameters":{"cxhtml":"

Section	Name	Type	Physical Dimension
Inputs	Steering	Double	None
Inputs	Throttle	Double	None
Outputs	Power Signal	Double	None
Outputs	Direction Signal	Double	None

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Control code often goes in pre_step or post_step. Make sure to get the spacing correct.

Pre_Step means the code is called at each step before the collision detection and the dynamic solver.

Post_Step means means the code is called at each step after the collision detection and the dynamic solver.

Read more about each function .

","block-inline":true,"nestedContent":{"type":"doc","content":[{"type":"panel","attrs":{"panelType":"warning"},"content":[{"type":"paragraph","content":[{"text":"Control code often goes in pre_step or post_step. Make sure to get the spacing correct.","type":"text"}]},{"type":"paragraph","content":[{"text":"Pre_Step means the code is c","type":"text"},{"text":"alled at each step ","type":"text","marks":[{"type":"textColor","attrs":{"color":"#172b4d"}}]},{"text":"before","type":"text","marks":[{"type":"em"},{"type":"textColor","attrs":{"color":"#172b4d"}}]},{"text":" the collision detection and the dynamic solver.","type":"text","marks":[{"type":"textColor","attrs":{"color":"#172b4d"}}]}]},{"type":"paragraph","content":[{"text":"Post_Step means means the code is called at each step ","type":"text","marks":[{"type":"textColor","attrs":{"color":"#172b4d"}}]},{"text":"after","type":"text","marks":[{"type":"em"},{"type":"textColor","attrs":{"color":"#172b4d"}}]},{"text":" the collision detection and the dynamic solver.","type":"text","marks":[{"type":"textColor","attrs":{"color":"#172b4d"}}]}]},{"type":"paragraph","content":[{"text":"Read more about each function ","type":"text","marks":[{"type":"textColor","attrs":{"color":"#172b4d"}}]},{"text":"here","type":"text","marks":[{"type":"link","attrs":{"__confluenceMetadata":{"isRenamedTitle":true,"linkType":"page","contentTitle":"Python 3 Scripting Extension inside Dynamics Content","anchorName":"writingCodeWritingaDynamicsScript'sCode","versionAtSave":"11"},"href":"https://vortexstudio.atlassian.net/wiki/spaces/VSD2310/pages/3382558257#Python3ScriptingExtensioninsideDynamicsContent-writingCodeWritingaDynamicsScript'sCode"}},{"type":"textColor","attrs":{"color":"#172b4d"}}]},{"text":".","type":"text","marks":[{"type":"textColor","attrs":{"color":"#172b4d"}}]}]}]}],"version":1},"reason":"A note macro in a list item can't be created or edited in the new editor."}}}]},{"type":"paragraph"}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Create a ForkliftController.py file with the code below. Using your preferred IDE, create a file named ForkliftController, and be sure to save it as a .py file.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":" In the Explorer panel, select the Dynamics Extension. In the Properties panel, select your ForkliftController.py Python file.","type":"text"}]},{"type":"paragraph","content":[{"type":"inlineExtension","attrs":{"extensionType":"com.atlassian.confluence.migration","extensionKey":"__confluenceADFMigrationUnsupportedContentInternalExtension__","text":"","parameters":{"cxhtml":"

Proper spacing is critical for correct Python syntax. Never use a tab to indent.

","block-inline":true,"nestedContent":{"type":"doc","content":[{"type":"panel","attrs":{"panelType":"warning"},"content":[{"type":"paragraph","content":[{"text":"Proper spacing is critical for correct Python syntax. Never use a tab to indent.","type":"text"}]}]}],"version":1},"reason":"A note macro in a list item can't be created or edited in the new editor."}}}]},{"type":"paragraph"},{"type":"paragraph","content":[{"text":"Forklift Controller","type":"text","marks":[{"type":"strong"}]}]},{"type":"codeBlock","attrs":{"language":"python"},"content":[{"text":"\"\"\" \nCalled before the collision detection and before the dynamic solver.\nUse this method to get inputs or set values to dynamics objects.\n\"\"\"\n\t\t\t\t\t\ndef pre_step(extension):\n steering = extension.inputs.Steering.value\n throttle = extension.inputs.Throttle.value\n\n extension.outputs.Power_Signal.value = throttle * 5\n extension.outputs.Direction_Signal.value = steering * 2","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"In the Connections, delete the existing connections by selecting them, then right-clicking and selecting ","type":"text"},{"text":"Remove","type":"text","marks":[{"type":"strong"}]},{"text":" or pressing the ","type":"text"},{"text":"Delete","type":"text","marks":[{"type":"strong"}]},{"text":" key. Create new connections between joystick, script and constraints (see table below).","type":"text"}]},{"type":"paragraph","content":[{"type":"inlineExtension","attrs":{"extensionType":"com.atlassian.confluence.migration","extensionKey":"__confluenceADFMigrationUnsupportedContentInternalExtension__","text":"","parameters":{"cxhtml":"

Output	Input
Joystick > AxisX	Script > Steering
Joystick > AxisZRot	Script > Throttle
Script > Power Signal	Rear Wheels [H] Rear Wheel Castor > Motor > Desired Velocity
Script > Direction Signal	Rear Wheel Castor [H] Body > Motor > Desired Velocity

Make sure you use name the above inputs and outputs exactly as they appear in the table to match the code.

","block-inline":true,"nestedContent":{"type":"doc","content":[{"type":"panel","attrs":{"panelType":"warning"},"content":[{"type":"paragraph","content":[{"text":"Make sure you use name the above inputs and outputs exactly as they appear in the table to match the code.","type":"text"}]}]}],"version":1},"reason":"A note macro in a list item can't be created or edited in the new editor."}}}]},{"type":"paragraph","content":[{"text":"The connection container should look like the following:","type":"text"},{"type":"hardBreak"},{"type":"inlineExtension","attrs":{"extensionType":"com.atlassian.confluence.migration","extensionKey":"inline-media-image","parameters":{"width":"","id":"21680191-8ff0-4154-b334-a5961aeab10b","collection":"contentId-3382546597","height":"250"}}}]}]}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"Adding a Camera Extension","type":"text"}]},{"type":"paragraph","content":[{"text":"In this step, we will add a camera to get the viewpoint of the forklift driver.","type":"text"}]},{"type":"orderedList","attrs":{"order":1},"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Switch back to the main window (the 3D View tab).","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":" Select ","type":"text"},{"text":"Cameras","type":"text","marks":[{"type":"strong"}]},{"text":" in the ","type":"text"},{"text":"Toolbox","type":"text","marks":[{"type":"link","attrs":{"__confluenceMetadata":{"isRenamedTitle":true,"linkType":"page","contentTitle":"Toolbox","versionAtSave":"1"},"href":"https://vortexstudio.atlassian.net/wiki/spaces/VSD2310/pages/3382548133"}}]},{"text":", and double-click ","type":"text"},{"text":"Perspective","type":"text","marks":[{"type":"strong"}]},{"text":" to add it to the Explorer panel.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Select the camera and reposition it to the driver's perspective using the ","type":"text"},{"text":"Transform","type":"text","marks":[{"type":"link","attrs":{"__confluenceMetadata":{"isRenamedTitle":true,"linkType":"page","contentTitle":"Transforming Objects","versionAtSave":"1"},"href":"https://vortexstudio.atlassian.net/wiki/spaces/VSD2310/pages/3382547696"}}]},{"text":" toolbar. ","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Open the Connections from the Explorer panel. Create a new connection between the Parent Transform of the Camera's inputs and the World Transform of the Body part (found in the Outputs tab of its Properties panel). This will force the camera to follow the forklift body.","type":"text"},{"type":"hardBreak"}]},{"type":"mediaSingle","attrs":{"layout":"align-start","width":35.0},"content":[{"type":"media","attrs":{"__fileSize":16983,"__fileMimeType":"image/png","width":473,"id":"01f30a35-02f9-4137-9570-a3d2bf219983","collection":"contentId-3382546597","type":"file","__fileName":"image2020-10-6_11-35-1.png","height":130}}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Go back to the 3D View and right-click in the 3D View and select ","type":"text"},{"text":"Viewport Configuration…","type":"text","marks":[{"type":"strong"}]},{"text":". Choose a configuration with two viewpoints, then click ","type":"text"},{"text":"Ok","type":"text","marks":[{"type":"strong"}]},{"text":".","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Press the '","type":"text"},{"text":"C","type":"text","marks":[{"type":"strong"}]},{"text":"' key to set the viewpoint to the camera in one of the viewports.","type":"text"}]}]}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"Add Basic Mast Controls","type":"text"}]},{"type":"paragraph","content":[{"text":"In this step, we will practice what we have learned so far to add some motion to the forklift's mast. We will also introduce the concept of ","type":"text"},{"text":"limits","type":"text","marks":[{"type":"link","attrs":{"__confluenceMetadata":{"isRenamedTitle":true,"linkType":"page","contentTitle":"Constraints","anchorName":"Limiting Constraint Coordinates","versionAtSave":"2"},"href":"https://vortexstudio.atlassian.net/wiki/spaces/VSD2310/pages/3382550752#Constraints-LimitingConstraintCoordinates"}}]},{"text":", which set boundaries to the movement of a constraint.","type":"text"}]},{"type":"orderedList","attrs":{"order":1},"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Under the Forklift Graphics Gallery, create new parts for the Mast and the Carriage (found under Mast > Mast 2nd Stage > Mast 3rd Stage).","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Double-click the assembly. In the Explorer panel, select Mast and Body by holding down the ","type":"text"},{"text":"Ctrl","type":"text","marks":[{"type":"strong"}]},{"text":" key. Double-click ","type":"text"},{"text":"Common Constraints","type":"text","marks":[{"type":"strong"}]},{"text":" > ","type":"text"},{"text":"Hinge","type":"text","marks":[{"type":"strong"}]},{"text":" from the ","type":"text"},{"text":"Toolbox","type":"text","marks":[{"type":"link","attrs":{"__confluenceMetadata":{"isRenamedTitle":true,"linkType":"page","contentTitle":"Toolbox","versionAtSave":"1"},"href":"https://vortexstudio.atlassian.net/wiki/spaces/VSD2310/pages/3382548133"}}]},{"text":" (See table below for settings).","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":" Similarly, select Carriage and Mast in the Explorer panel. Double-click Select ","type":"text"},{"text":"Common Constraints","type":"text","marks":[{"type":"strong"}]},{"text":" > ","type":"text"},{"text":"Prismatic","type":"text","marks":[{"type":"strong"}]},{"text":" from the ","type":"text"},{"text":"Toolbox","type":"text","marks":[{"type":"link","attrs":{"__confluenceMetadata":{"isRenamedTitle":true,"linkType":"page","contentTitle":"Toolbox","versionAtSave":"1"},"href":"https://vortexstudio.atlassian.net/wiki/spaces/VSD2310/pages/3382548133"}}]},{"text":" (See table below for settings). Set both new constraints' Control field to ","type":"text"},{"text":"Motorized","type":"text","marks":[{"type":"strong"}]},{"text":" under Controlled Axes in their respective Properties panels.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"In the ","type":"text"},{"text":"Carriage [P] Mast","type":"text","marks":[{"type":"em"}]},{"text":" constraint, in the ","type":"text"},{"text":"Inputs > Controlled Axes","type":"text","marks":[{"type":"em"}]},{"text":" tab, select the ","type":"text"},{"text":"Limits","type":"text","marks":[{"type":"strong"}]},{"text":" box.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":" Scroll down and set the following:","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph"},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":" ","type":"text"},{"text":"Lower Limit","type":"text","marks":[{"type":"strong"}]},{"text":" > ","type":"text"},{"text":"Position","type":"text","marks":[{"type":"strong"}]},{"text":" to 0 m.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":" ","type":"text"},{"text":"Upper Limit","type":"text","marks":[{"type":"strong"}]},{"text":" > ","type":"text"},{"text":"Position","type":"text","marks":[{"type":"strong"}]},{"text":" to 1.8 m","type":"text"}]}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":" In Inputs > Controlled Axes > Linear > Motor, set the ","type":"text"},{"text":"Desired Velocity","type":"text","marks":[{"type":"strong"}]},{"text":" to 1 m/s. Note that we are skipping the steps to create collision geometries and mass properties. In general, this should be done for every part.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Test the assembly to see the apron rise and stop.","type":"text"}]},{"type":"paragraph","content":[{"type":"inlineExtension","attrs":{"extensionType":"com.atlassian.confluence.migration","extensionKey":"__confluenceADFMigrationUnsupportedContentInternalExtension__","text":"","parameters":{"cxhtml":"

Constraint Name	Type	Part 1	Part 2	Position	Primary Axis (Part 1)	Secondary Axis (Part 1)
Mast [H] Body	Hinge	Mast	Body	0 m; 0 m; 0 m	+Y: 0 m; 1 m; 0 m	+X: 1 m; 0 m; 0 m
Carriage [P] Mast	Prismatic	Carriage	Mast	0 m; 0 m; 0 m	+Z: 0 m; 0 m; 1 m	+Y: 0 m; 1 m; 0 m

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0 m; 0 m","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"+Y: 0 m; 1 m; 0 m","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"+X: 1 m; 0 m; 0 m","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"Carriage [P] Mast","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"Prismatic","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"Carriage","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","marks":[{"type":"alignment","attrs":{"align":"center"}}],"content":[{"text":"Mast","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"0 m; 0 m; 0 m","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"+Z: 0 m; 0 m; 1 m","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1},"content":[{"type":"paragraph","content":[{"text":"+Y: 0 m; 1 m; 0 m","type":"text"}]}]}]}]}],"version":1},"reason":"A table in list item can't be created or edited in the new editor."}}}]},{"type":"paragraph","content":[{"type":"hardBreak"}]}]}]},{"type":"paragraph","content":[{"text":"To set the positions and axes of each constraint's Part 2:","type":"text"}]},{"type":"orderedList","attrs":{"order":1},"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Click the \"...\" in the Offset (Relative) field of Part 2.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"In the resulting window, set the Copy From field to ","type":"text"},{"text":"Attachment Offset: Part 1","type":"text","marks":[{"type":"strong"}]},{"text":".","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Click ","type":"text"},{"text":"Apply","type":"text","marks":[{"type":"strong"}]},{"text":".","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Click ","type":"text"},{"text":"Ok","type":"text","marks":[{"type":"strong"}]},{"text":".","type":"text"}]}]}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"Add a VHL Interface","type":"text"}]},{"type":"paragraph","content":[{"text":"In this step, we will add a ","type":"text"},{"text":"VHL interface","type":"text","marks":[{"type":"link","attrs":{"__confluenceMetadata":{"isRenamedTitle":true,"linkType":"page","contentTitle":"Mechanisms","anchorName":"Working with VHL Interfaces","versionAtSave":"10"},"href":"https://vortexstudio.atlassian.net/wiki/spaces/VSD2310/pages/3382553026#Mechanisms-WorkingwithVHLInterfaces"}}]},{"text":" that exposes some of the forklift's functions at the scene level. A VHL interface can be used to access the inputs, outputs and parameters from constraints, scripts and extensions.","type":"text"}]},{"type":"orderedList","attrs":{"order":1},"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Open the mechanism file and go back to the mechanism window.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Add a ","type":"text"},{"text":"VHL Interface","type":"text","marks":[{"type":"strong"}]},{"text":" from the ","type":"text"},{"text":"Simulation","type":"text","marks":[{"type":"em"}]},{"text":" section of the Toolbox.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"In the Explorer panel, select Carriage [P] Mast constraint. In the Properties panel, select ","type":"text"},{"text":"Controlled Axes","type":"text","marks":[{"type":"strong"}]},{"text":" > ","type":"text"},{"text":"Motor","type":"text","marks":[{"type":"strong"}]},{"text":" > ","type":"text"},{"text":"Desired Velocity","type":"text","marks":[{"type":"strong"}]},{"text":" and drag it to the Inputs section of the VHL Interface. Double-click on the newly created input name, and rename it to Mast Velocity.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"In the Explorer panel, select the Body part. In the Properties panel, select Output > Linear Velocity and drag it to the Outputs section of the VHL Interface.","type":"text"},{"type":"hardBreak"}]},{"type":"mediaSingle","attrs":{"layout":"align-start","width":65.0},"content":[{"type":"media","attrs":{"__fileSize":14473,"__fileMimeType":"image/png","width":837,"id":"6f62f207-3b06-4d25-8db4-b9a8a516c077","collection":"contentId-3382546597","type":"file","__fileName":"image2020-10-6_11-35-10.png","height":170}}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"In the Explorer panel, click on ","type":"text"},{"text":"Interface","type":"text","marks":[{"type":"strong"}]},{"text":" and test the mechanism and change the value of the Mast Velocity in the VHL interface to control it.","type":"text"}]}]}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"Up Next: ","type":"text","marks":[{"type":"strong"}]},{"text":"Getting Started Tutorial 5 : Mechanism and Scene Configurations","type":"text","marks":[{"type":"link","attrs":{"__confluenceMetadata":{"spaceKey":"VSD2310","isRenamedTitle":true,"linkType":"page","contentTitle":"Getting Started Tutorial 5 : Mechanism and Scene Configurations","versionAtSave":"1"},"href":"https://vortexstudio.atlassian.net/wiki/spaces/VSD2310/pages/3382546861"}}]},{"text":" ","type":"text"}]},{"type":"paragraph","content":[{"type":"hardBreak"}]}],"version":1}

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