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※This tutorial is valid for later than SIGVerse v2.1.0
Make working directory.
$ cd ~ $ mkdir readBVH $ cd readBVH
Please download the programs from below link.
https://github.com/SIGVerse/samples/tree/master/controllers/AgentControllerByBVHfile
You can download all sample controllers from this page.
The package includes the following files.
$ make
BVHController.so will be output.
Put your favority bvh file on the current directory (~/readBVH). This tutorial uses Action_Kick_bvh.bvh provided by PV STUDIO
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
$ 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.
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.
Up:Tutorial? Previous:Grasping Function Next: Wheeled mobile robot