hrisys

This package applies BVH motions to collada polygons in Gazebo for future human-robot-interaction simulations.

Currently, the package is compiled under Gazebo5 and SDF2 (which is the standard for ROS Jade and Ubuntu 14.04 or higher). Note that the package also depends on C++11 or higher (Gazebo5 should also have this dependency).
Packages for Gazebo7 or higher are to be developed in the near future.

recommended: Ubuntu 14.04 LTS, ROS Indigo, Gazebo 5.1.0, SDF 2.3.2

dependency:
(required) Gazebo5, SDF2, Boost
(optional) OpenAL, ROS, OpenNI2, NiTE2, Eigen3

Build

1. catkin build (with ROS)

   If you're not using ROS, go to step 2.
   Assuming, Gazebo and sdformat is already installed, and that you have catkin_tools, go to your workspace,

   catkin build hrisys_gazebo_tutorials

   after build, setup the environments

   roscd hrisys_gazebo_tutorials
   source ./setup.sh

   Don't forget to set the GAZEBO_PLUGIN_PATH to whereever plugins were built.
   An example of setting plugin path is commented out in setup.sh.

2. without ROS

   This step is only for those who did not compile with step 1.
   Assuming, Gazebo and sdformat is already installed,

   cd hrisys_gazebo_tutorials
   mkdir build
   cd build
   cmake ..
   make

   after build, setup the environments

   cd ..
   export HRISYS_SDF_PATH=$(pwd)/sdf
   export GAZEBO_RESOURCE_PATH=$(pwd)/worlds:$GAZEBO_RESOURCE_PATH
   export GAZEBO_PLUGIN_PATH=$(pwd)/build:$GAZEBO_PLUGIN_PATH

Tutorials

1. Prepare your BVH

   Assuming that you've finished the environmental setups above,
   open worlds/bvh_test.instance with your favorite editor,
   and add the BVH file you want to apply.

   <bvh_animation name="01_01">
   <filename><!--writehere--></filename>

   If you don't have any BVH files, a good place to start is trying the
   CMU MotionBuilder-friendly BVH files.

2. Run the sample

   Now that everything is prepared, let's try the following sample

   gazebo bvh_actor_tutorial.world

   You should see a human model moving according to the BVH motions.

3. Sample using ROS

   As an alternative, if you have ROS,

   roslaunch hrisys_gazebo_tutorials bvh_actor_tutorial.launch

   However, the launch files may not work with current installed gazebo_ros package, but might work with compiled-from-source packages.

For developers

hrisys allows limb motion extentions. Further information are to be added.

Progress on hrisys

• Extended actor class for loading bvh motions.
• Tutorials for bvhactor class.
• Grouping skeleton nodes into limbs.
• Apply different BVH motions to each limb.
• Tutorials for XtendedActor class.
• XTracker: Limb operation with depth sensor. dependency: OpenNI2 and NiTE2
• XWalker: Limb walking motion control with controller. dependency: ROS (wiimote)

To be developed

• Collision detection.
• Automatic object grasping for actor operation using inverse-kinematics.
• BVH loading for non-compatible models.
• Eye-sight movement.
• Morph targeting for facial expressions.
• Original polygon model with eye-sight movements and facial expressions.