Up:Tutorial? Previous:Grasping Function Next: Wheeled mobile robot Control of humanoid agent by BVH file †※This tutorial is valid for later than SIGVerse v2.1.0 Download sample programs †Make working directory. $ cd ~ $ mkdir readBVH $ cd readBVH Please download the programs from below link. https://github.com/SIGVerse/samples/tree/master/controllers/AgentControllerByBVHfile
The package includes the following files.
Compilation †$ make BVHController.so will be output. Getting bvh file †Put your favority bvh file on the current directory (~/readBVH). This tutorial uses Action_Kick_bvh.bvh provided by PV STUDIO Configuration of world file †Specify the target bvh file in the world file $ emacs BVHWorld.xml BVHWorld.xml old new The path for the bvh file should be relative path from the directories to execute. BVHWorld.xml Execution †$ sigserver.sh -w ./BVHWorld.xml You can see an avator agent is standing with its hands opened. Push the start button to start the simulation. The bvh file will be read after the simulation start. The agent will perform kick motion. sample model †Joint names used in the sample model (bvh_man.x3d) is as shown in the following picture. All of the joints is configured to rotate around x,y,z axis of local coordinate. reference †Up:Tutorial? Previous:Grasping Function Next: Wheeled mobile robot
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