Estrategia de Evaluación del Modelo de Mejora

(Command: ModulesAnimation System)

Up until now, you have been primarily working with Jack‘s interactive tools to create scenes, manipulate the figure and evaluate aspects of your simulation environment. However, Jack also provides another powerful capability: 3D motion definition, scripting, and playback.

While Jack offers a powerful (yet easy to use) animation tool, a person using Jack needs to realize that animation is a very time consuming endeavor and patience is required to do involved projects.

This chapter covers what is typically referred to as Jack‘s

‗traditional‘ animation system. In recent years we have also introduced a tool called the Task Simulation Builder (TSB), which moves away from the traditional key framing approach to human simulation, and allows you to command the human figures using high level task descriptions (ex. Get nails / Use hammer). These get translated ‗behind the scenes‘ into the appropriate human motions. For more information on TSB, go to Help-> TSB Manual.

3D Motion

Animation Window

The Animation Window contains all the functions necessary to create and playback motions in Jack. It consists of a menu, toolbar, and timeline.

Jack’s Animation Window

Menu

The menus in the Animation window contain all of the commands available to create a simulation in Jack. They are organized into basic File and Control operations, Motion Primitives, and Timeline Options.

Animation Window Menus

Animation Window Icons

(Command: Animation System Control)

The Animation Icons provide quick access to common Animation functions.

This function generates the frames for playback.

This function must be used to view any edited or newly created motions.

This icon stops generation of frames.

This sets the initial frame for the animation. The

This icon controls the cycle style during playback.

It displays a pop-up menu with the following selections: forward, backward, loop forward, loop backward, and swing.

This icon controls the speed of playback. When the realtime box is checked the animation skip frames so that playback is displayed in realtime.

You also have the option of changing the realtime multiplier. This allows you to view double, half, or any desired speed.

Timeline

The Timeline graphically represents each motion within a time grid.

You can delete, move, resize, and edit these motions using the

<RMB>. You can also interactively move and resize specific motions by dragging them with the <LMB>. Finally, you can modify the size of the timeline using the + or - Button at the bottom of the animation window.

Example Motion Editing Menu

Mouse cursor Command

Interactively move motion <LMB>

Interactively resize motion<LMB>

Interactively step through motions<MMB>

Motion Basics

Motions in the Jack animation system require several basic parameters: a motion name, a weight, a velocity, a start time, a duration, and an objective or goal. Notice that a motion initial state is NOT required. In Jack the initial location is grabbed from the previous motion. This makes editing Jack motions very easy. There is only one state per motion that needs to be changed and this automatically updates subsequent motions. This format does require a starting position at time zero, however.

Generate

(Command: ModulesAnimation SystemControlGenerate) Jack uses key framing to create motions. The starting frame is defined from the last position of the previous motion. When a new

motion is created, you will only need to define the last position of the previous motion and Jack will figure out how to translate between the end position or the last motion to the newly defined position (after the motions have been generated).

Complex tasks typically consist of many motions overlapping each other. Jack provides the capability to generate these motions interactively, using all of the power of the realistic human movement and behavior that is built in to the human figure model.

You don‘t have to manually generate every joint motion and track the sequencing - Jack does all the hard work of motion generation and playback.

Jack Walking

Set Frame 0

(Command: ModulesAnimation SystemControlSet Frame 0) The starting position for all objects in the environment is automatically specified when the A^NIMATION M^ODULE is first created.

It is possible to change this. It is also necessary to explicitly set the starting positions when new objects are added to an animation by setting frame 0 using the icon or by following the path above.

Create Figure Motion Dialog

Motion Name: Each motion will have its own unique name.

Weight: Each motion describes movement of a part of a figure through a kinematic constraint. Consequently, it is possible to have two motions affect the same part at the same time. The weight function describes the constraint‘s strength over an object relative to another constraint.

Velocity: Each motion in the Animation Window has a predefined velocity profile described through a kinematic constraint. The speed of the end effector along the path between the starting and ending positions is controlled through the velocity function:

Start: This parameter specifies the starting time for the motion.

Note that the time will be either listed as seconds or frames. There are 30 frames in a second on the animation timeline.

Duration: This parameter specifies the overall duration for the motion. Note that the time will be either listed as seconds or frames. There are 30 frames in a second on the animation timeline.

You do not explicitly set the ending time for a motion; rather, end can create a motion group by right clicking (<RMB>) on the group icon and selecting "New" from the menu.

Figure Motions

(Command: ModulesAnimation SystemGeneralFigure) Figure Motions provide an easy way to translate and rotate a Figure around the environment. In fact, you use the MOVE CONTROLLER to reposition the figure. When you are finished, the motion dialog captures the current location of the figure and uses it as the goal in the animation.

Note: Figure motions record the position and orientation of the figure. Joint angles are not recorded.

Joint Motions

(Command: ModulesAnimation SystemGeneralJoint)

Joint motions provide a convenient way to specify goal positions for many joints at once. Specifically it is possible to create a joint motion that moves one joint in a figure, several joints in a figure, or all the joints in the figure to specified goal positions.

You can do any interactive manipulation to set the goal location for the joints. Every joint in the list will be animated by the motion.

Note: The position of every joint in the list at the time the Create button is hit will be taken as the new goal. Only this final position is recorded, not the path of the movement.

Timed Attachments

(Command: ModulesAnimation

SystemGeneralRelational-Timed Attach)

Time attachments let you control the movement of one figure by attaching it to another.

Timed Attach

Constraints

(Command: ModulesAnimation

SystemGeneralRelationalConstraints)

Constraints define a constraint for a set duration of time during a portion of your animation.

Path Motions

(Command: ModulesAnimation SystemPathsFigure Path) Path motions let you attach objects to predefined paths in space.

The site path1.paths.point will move along the path over the time interval of the path motion. The motion of this site can be used to control an object‘s translation and orientation.

Figure Path Motion

Human Motions

(Command: ModulesAnimation SystemHuman)

Human Motions in Jack are just Basic motions using all of the human manipulations and behaviors available in the Human Control Panel. Just like Figure Motions, the Human Control Dialog is used to manipulate the human. The Motion Dialog then saves the new human position.

Timed Behaviors

(Command:ModulesAnimationSystemHumanTimed Control) The behavior setting of the human affects what motion results when you create motions for the human. It is possible to explicitly control (and change) the human behavior settings during the course of an animation.

Like timed attachments, timed behaviors are a useful way to control the motion of one figure through the motion of another figure.

Consequently, you can generate animation of the human using the motion of other objects. Timed behaviors are also useful for situations where the most appropriate behavior changes over the course of the task being animated.

Camera Motions

(Command: ModulesAnimation SystemSceneCamera) Camera motions allow you to change view during an animation.

When you create this motion the camera doesn‘t move. It is already at the goal position. By default the initial frame doesn‘t contain camera information. As a result, the first camera motion becomes the initial location for the camera.

Channelsets

Channelset files are a way to save multiple motions or channels (joint angles and positions for each frame) into one motion.

Channelset files can be read back in and added to your animation.

Creating Channelsets

(Command: ModulesAnimation SystemChannelsetsSave Channelsets)

A channelset can be created for any time frame and for any figure in the environment. In addition, a single channelset file can contain motions for multiple figures.

Write Channelset Dialog

Replaying Channelset Motions

(Command: ChannelsetChannelsetMotion)

To replay a channelset, load the file from either FileOpen or in the Animation Module ChannelsetLoad Channelset. Next, assign the figure animations from the channelset to figures in the current environment.

Notice you can load many channelset files and can select any of these. Also, the duration option in the dialog is grayed out. Unlike other motions, a channelset‘s size is specified in the channelset file.

Otherwise, the motion can be deleted or moved like any other motion in the timeline.

Create Channelset Dialog

Channelset Editor

The editor allows individual joint and figure motions saved within a channelset to be included or excluded. The channelset file can be loaded into the editor from CHANNELSETLOAD CHANNELSET. The new channelset can then be saved and used to create a new animation.

Movie Export

Movies that can be played back outside of Jack are useful for sharing simulations with others. These are very easy to create with Jack. The Export Animation dialogue is located under ModulesAnimation SystemFileExport Animation.

Movie Export

Jack will generate images for each frame and compile them into an animation file. Images for this animation can be rendered the same as individual screen captures. Finally, the screen saver should be deactivated during the entire export process. Windows or other activities that interfere with the animation will be recorded into the subsequent movie. The movie will be automatically saved to your home directory.

Resolution

The resolution determines how large the movie image is and also how big the resulting file is. Use the smallest resolution you can get away with. If you try to resize a movie created at a low resolution to make it larger you will notice the lack of resolution. The image will be very coarse.

Animation Options

The start and stop time allows you to crop the beginning and the end of your timeline. In other words, Jack allows you to select a portion of an animation to export. The default times in the dialog are the actual beginning and end frames of your animation.

Output Options

Jack‘s animation system allows you to output a finished movie in AVI or MPEG format, environment files (saves object positions) for

every frame, or individual images of every frame. These image files can be used with external movie utilities to create complex fades or merge with existing footage.

Video Compression

When AVI format is selected for video export, you will be prompted to select a video compressor and quality setting, to optimize the file size of your video.

It is important to note that the selection and use of codecs for .avi movies is a function supported/controlled entirely by Microsoft.

Jack cannot edit any of the codecs provided in the selection dialog, nor can the software control the success of using any particular codec. Furthermore, the construction of .avi movies can have a heavy memory footprint. Very long/large videos may not export as expected.

Compression Dialog

Animation Tips

Constraint Vs Joint Motions:

Joint motions tend to be smoother than constraint motions in animations. Constraint motions required a considerable amount of computation for figures with a number of joints and the motions may therefore be less fluid when constraints are used. It is recommended that you use the constraints to position the figures for the motions, but record the joint positions in the motion file.

Constraint based motions do have an advantage over joint based motions in terms of their ability to react to changes in the scene or animation. For example, if an arm motion is used to reach a box in the scene, the animation will automatically change appropriately if an earlier motion is modified top put the box in a new location. If a joint motion had been used, the figure would continue to reach for

the old location of the box, since only the joint displacements (and not a constraint/behavior goal) are recorded.

Generation:

Disabling the TJ_Window during generation will generate the motions faster. Simply right click in the TJ_Window and select Disable.

Handprints and Footprints:

This tool brings in hand and footprints and automatically constrains a human to them. In some cases, this can be an easier method for positioning the human within the scene.

_Motcs File:

The _motcs (also referenced in this document under Quickstart) file is automatically created when you save the _motions file from the animation panel. This file will open automatically when the _motions file is loaded. This has two benefits.

1. Generation is not required unless changes are made to the motions.

2. Packet size is greatly reduced during collaboration. Loading an _motions file that has an associated _motcs file will automatically load the motions on all participants and then only the frame, rather than all the motions, will be collaborated.

Motion Times (Motions not being generated):

Motions, including attachments, need to be at least .03 seconds.

This is equivalent to one frame. Motions less than .03 may or may not be generated.

Pose Figure Vs Joint Motion:

It is recommended that you use the pose figure to position the figure for the motions, but record joint motions and the figure position rather than the pose figure. The pose figure command contains joint positions and a figure position. Therefore, if you reposition the figure with the pose, the figure motion and the pose motion will need to be recorded in parallel. If the pose motion and the figure motion are recorded in parallel, you will essentially have two figure motions on the same figure recorded in parallel and Jack may or may not use the figure motion that you intended.

Quickstart:

Animations can now be loaded and played without requiring users to generate the motions. This has been integrated into Jack 6.0 and

will work as long as no changes have been made to the motion files. In order for quickstart to work, animation files must be loaded directly from the animation panel. If the motion files are loaded from the main File>OPEN dialog, the motions will need to be generated. See _motcs for more information.

Chapter 9 Tutorial: Animation System Module

This tutorial will guide you through Jack‘s basic animation features such as manipulating the human and moving objects. You will also learn more advanced animation techniques and tips for creating realistic animations.

Exercise: Animation Window

This exercise will introduce you to the basic features in the animation window.

 Delete the scene and read in the Sphere.pss from the Object Library (Object—Create---Figure from Library---Primitives)

 Scale the ball to make it smaller by right clicking on the ball and selecting Scale

 Reduce the scale by all axes to .2

 Move the ball away from 0,0,0

 Create a human

 Open the ANIMATION WINDOW

 Examine the available menus.

Note: The timeline is empty.

Scene for Basic Animation

Exercise: Basic Animation

This exercise will introduce you to some basic animation features.

You will move the sphere and human.

 Set Frame Zero in the Animation Window

Set Frame Zero Icon

 Create a Figure Motion. In the Animation Window General---Figure

 In the FIGURE MOTION DIALOG leave the Weight and Velocity at Constant.

 Set the Start time for 0. (The motion will begin at 0 seconds)

 Set the Duration for 1 second. (The motion will last for 1 second)

 In the FIGURE MOTION DIALOG select the sphere as the Figure and hit Move.

Figure Motion Dialogue

 Move the sphere to a new location for the move animation. When finished hit Create, Apply and dismiss the dialog.

This will create a motion in the Timeline.

 Hit the Generate button

Note: The motion will replay as it generates the frames. The playback controls can then be used to control the generated motions.

 Hit the Play button.

 Move and resize the motions in the timeline by using your mouse button over the timeline and clicking/dragging the time. When you are finished hit generate again.

 The time should have changed.

Exercise: Group manipulation

This exercise will demonstrate moving an object multiple times.

 Create another Figure Motion for the sphere by selecting General---Figure, in the Animation Window.

 Set the start time after the first motion.

 Apply a duration of 2 seconds.

 When finished hit Create and dismiss the dialog.

This will create a second motion in the Timeline.

 Hit the Generate button

 You should now see the sphere move two times.

Note: Both motions are resized to the new size of the default group.

Exercise: Human Linear Walk

This exercise will demonstrate how to have a human perform a walking motion.

 Now we will have our human perform a walk motion.

 Rewind the motion to frame 0 using the icon

 Select Human---Linear Walk from the Animation Window

 Leave the Weight and Velocity set to constant.

 Set the Start Time at 0 seconds.

 Set the Duration for 2 seconds.

 Choose Forward, Swing Arms for the Mode. (Notice the other Mode Types).

 Choose the Human figure.

 Move the Human to a new end location for the walk. (i.e Move the human to the side).

 Hit Apply and Dismiss.

 Notice the new figure motion in the animation timeline.

Multiple Motions in the Timeline

Note: Animations contain an object’s final destination only.

 Generate the Animation .

 Notice the ball motions and the human motions.

 Modify the timing on the motions.

 Hit Generate .

Exercise: Human Pose

This exercise will demonstrate how to have the human take a posture motion at the end of the walk created in the last section.

 Select Human---Pose from the Animation Window

 Leave the weight and velocity set to Constant.

 Set the Start Time to be at the end of the Human Linear Walk created in the last section.

 Set the Duration to .5 seconds.

 Select the Human Figure.

 Select the Pose Standing Working from the drop down list. (Notice these are the same saved postures available on the human in the Human Context Sensitive Menu)

Human Pose Motion

 Notice the addition of a Pose to the timeline.

 Generate the Animation .

 Play the Animation.

 Check the Realtime Box in the Animation Window. And set it to .5.

Realtime Playback

 Hit Play

 The animation plays back at half the time.

Exercise: Saving the Animation

This exercise will demonstrate saving an animation file and replaying saved animations.

 Choose File---Save from the Animation Window

 Choose File---Save from the Animation Window

In document Modelo para el mejoramiento de la calidad y productividad en el área de armado en Dish México. (página 96-113)