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retargeting_pipeline.md

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Create Actor

This document summarizes how to obtain a Gazebo compatible actor retargeting in Blender using a MakeHuman character.

Retargeting Pipeline

  • collect mocap data in bvh format e.g. using xsens or optitrack (change bvh settings to export in meters). To run some test is possible to download some optitrack sample data here.
  • Open Makehuman:
    • generate a model in makehuman with the openvico rig (to learn more about the structure read the following skeleton doc.)
    • select low-poly eyes
    • put the model in T pose under the Pose Tab
    • select the hide faces under clothes option
    • in the Files/Export Tab select MakeHuman Exchange (mhx2) option
    • select meter as Scale units
    • export the model

Run the following command to retarget the model:

bash ~/path-to-your-ws/src/open_vico_resources/retarget_human.sh -m <path_to_mhx2_file> -b <path_to_bvh_file> -n <name_of_output_model>

This will create a folder name_of_output_model with inside the animated name_of_output_model.dae model. To test the output run the following script:

roslaunch open_vico_gazebo spawn_actor.launch actor_filename:=name_of_output_model

Troubleshooting

select the open-vico rig before going on the mass-produce plugin to generate rigged avatars. if blender Makehuman plugin pops an error saying connection refused go to the "community/socket" tab in makehuman and thick the accept connections. Verify the ip number corresponds to the one on blender's plugin.