sasabot / hrisys Goto Github PK

Dear Sasabot-san,

My name is Mingfei. I am interesting in you hrisys project.

Currently, I'm also trying to retarget a bvh file to an actor, but only to find a distorted actor, as reported here. I don't know how to solve this problem.

Luckily, I found your code and know you had some experiences on this before. When I checked your codes, I noticed that there is a translationAligner and rotationAligner, different from the Gazebo source code.

// line 832 in bvhactor.cc
	      transform =
		translationAligner[node->GetName()]
		* transform * rotationAligner[node->GetName()];

bvhactor.cc file can be found here

I guess this could be the possible solution to overcome the distortion. But I don't quite understand the codes. Could you help explain the underlying principles or refer me to any useful references.

Thanks a lot. BTW, sorry that I could not find your email address, so I had to contact you here.

Mingfei