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Control of humanoid agent by BVH file

Control of humanoid agent by BVH file †

※This tutorial is valid for later than SIGVerse v2.1.0

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Download sample programs †

Please download the programs from below link.

readBVH_2.1.0.tar.gz

Extract the program in your home directory

$ tar zxvf readBVH_2.1.0.tar.gz
$ cd readBVH

The package includes the following files.

Controller
- BVH.cpp
- BVH.h
- BVHController.cpp
- BVHController.h
World file
- BVHWorld.xml
Agent configuration file
- Man-bvh.xml
Shape model for the humanoid agent
- bvh_man.x3d
other
- Makefile

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Compilation †

$ make

BVHController.so will be output.

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Getting bvh file †

Put your favority bvh file on the current directory (~/readBVH). This tutorial uses Action_Kick_bvh.bvh provided by PV STUDIO

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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

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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.

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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.

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reference †

Real animation software PV STUDIO