USER
MANUAL
VERSION 8.2
ii
TABLE OF CONTENTS
INTRODUCTION ...................................................................................................................................................... X
WHAT ARE THE JACK PRODUCTS? .......................................................................................................................... XII
CLASSIC JACK......................................................................................................................................................... XII
TEAMCENTER VISUALIZATION JACK (TCVIS JACK) ................................................................................................ XII
NX HUMAN ........................................................................................................................................................... XIII
PROCESS SIMULATE HUMAN ................................................................................................................................. XIII
WHATS NEW IN JACK 8.2? .................................................................................................................................... XIV
HOW DO I USE THIS MANUAL? ............................................................................................................................... XIV
WHAT IS THE COURSE OBJECTIVE? ....................................................................................................................... XIV
WHO IS THE AUDIENCE? ......................................................................................................................................... XV
WHAT ARE THE SYSTEM REQUIREMENTS? ............................................................................................................. XV
CHAPTER 1: JACKS INTERFACE........................................................................................................................1
CONTROL BAR ...........................................................................................................................................................2
Menus ...................................................................................................................................................................2
Icon Toolbar.........................................................................................................................................................3
Object Selector .....................................................................................................................................................3
Message Area .......................................................................................................................................................4
Move Controller ...................................................................................................................................................4
Move - By .............................................................................................................................................................5
Global vs. Local Transformations ..................................................................................................................................... 6
Snap to Geometry ............................................................................................................................................................. 7
IMPORT .................................................................................................................................................................... 24
Import Formats .................................................................................................................................................. 24
Import Formats for Texture Mapping & Visualization ...................................................................................... 25
Import Options ................................................................................................................................................... 25
JT Features ........................................................................................................................................................ 25
Benefits: .......................................................................................................................................................................... 25
iii
Limitations: ..................................................................................................................................................................... 26
JT Export ........................................................................................................................................................................ 26
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Introduction
Because this manual cannot begin to cover all of the features of Jack, a
brief overview of Jacks capabilities and potential applications is also
provided. This is intended to give you the big picture and allow you to
begin considering ways in which you can effectively apply Jack in your job,
even before you undertake the training.
Jack is a complete system for generating 3D environments or virtual
worlds and interacting with them in a powerful graphical environment.
Some of the areas where Jack excels are:
Creating and visualizing digital mock-ups of designs: Jack
gives you all of the advanced graphical tools for creating concept
models or importing design data to the virtual world. Design changes
in Jacks world are much less costly and time consuming than in
ours.
Analyzing human factors in designs: Occupant or operator reach,
fit, comfort, and vision are all important considerations in product
designs. It is imperative to products are designed with consideration
of the people that will use them!
Studying humans in the simulated workplace: Jack can
tirelessly perform operations in factories or offices to allow you to
design the most safe, efficient, and productive workplaces possible.
Evaluating maintenance operations: The maintenance phase of
the lifecycle can be associated with considerable cost for many large
systems. Therefore, it is critical to consider the safety and task
feasibility for maintenance and repair personnel. Jack gives you the
tools to evaluate maintenance operations even in the earliest product
design stages.
Training: Your design simulations can serve double duty: training
operators, maintenance or military personnel long before products or
facilities are even constructed. This is done without the danger and
lost productivity of real life training.
Research: Jacks is a detailed link segment model with biologically
accurate motion prediction and joint kinematics. Almost endless data
can be retrieved from Jack. The Jack Toolkit and open API is an
ideal location to tap into the framework of Jack or plug in your custom
tools.
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Insert digital men and women, and scale them by stature and weight
Define behaviors that condition how the digital humans react when
postured
Posture digital humans by manipulating their joints
Evaluate what digital humans can see from their point of view or
through the display of view cones
Evaluate the reach capability of digital humans
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Recommended
Processor
1GHz
2GHz
Memory
2GB
4GB
Free disk
400 Mb
600 Mb
Graphics:
OpenGL
Support
Maximum
Screen
Resolution
3.0
3.0 or higher
1280x1024
1920x1200
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Jack Startup
All of Jacks windows are completely independent and can be
moved to suit your preferences. The windows, menus, and toolbars
used in Jack conform to standard Windows behaviors and methods
of manipulation. Jack also contains several non-standard functions
for convenience.
G
r
a
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Control Bar
The CONTROL BAR is divided into four areas: the MENUS, the ICON
TOOLBAR, the MESSAGE AREA, and the MOVE CONTROLLER. It
provides access to almost all Jack functions via menus and
graphical icons. The figure below illustrates the main areas of the
CONTROL BAR.
Move Controller
Menus
Icon Toolbar
Message Area
Control Bar
Menus
The MENU LINE provides the starting point for Jacks command
structure. Menus are in standard windows format and can be
accessed with a single click of the Left Mouse Button <LMB>. File,
Edit, View as well as Jack specific issues involving Human, Object,
Utilities, and Analysis are included. In addition, Jack provides a
module system, which allows additional capabilities to be added to
the software at run-time. A number of special purpose modules are
available for Jack or you can easily create your own modules.
Menu Bar
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Icon Toolbar
The TOOL BAR icons give you quick access to commonly used
functions.
Open File
Import File
Zoom To
Toggle Object
Hierarchy
Move Figure
Adjust Joint
Create Female
Manikin
Scale Human
Message Area
Move Controller
The MOVE CONTROLLER contains controls for moving all object types
in the Jack environment. Since this is a major part of working with
Jack, it is constantly in view and easily accessible.
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Use the Hand Selector to select the object to move. Jack utilizes a
Cartesian coordinate system, simply a triad of X, Y, and Z axes in
space, to define position and orientation. You can enter the
coordinates in the MOVE CONTROLLER or interactively move objects
using the mouse.
Move Controller
You can move a figure along the x or z-axis by holding down the
left mouse button <LMB> or right mouse button <RMB>,
respectively. To move the figure up (along the y axis) use the
middle mouse button <MMB>. A large red arrow indicates the
selected direction of movement. You can also rotate a figure
around any axis by holding down the <Shift> key and <LMB>,
<MMB> or <RMB>. The 3D Reference (XYZ) can be relative to a
global reference or a local reference specific to an object. However,
the coordinates displayed in the MOVE CONTROLLER are always
global coordinates.
SHIFT
SHIFT
SHIFT
LMB
MMB
RMB
LMB
MMB
RMB
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indeed apply any other move, to any figure, based on any existing
Site or Node.
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Global Transformation
Local Transformation
Snap to Geometry
Direct manipulation is well suited for global or gross movements but
it can be difficult to adjust things relative to other objects. The SNAP
TO options provides a powerful way to precisely position objects
relative to each other. They are available anytime you are using the
MOVE CONTROLLER. The different snap to options are described
below and more detailed definitions can be found in the Appendix.
Cursor Point
Site
Site Position
Site Orientation
Node Positions
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Graphics Window
The GRAPHICS W INDOW contains the 3D scene. You can have
multiple GRAPHICS WINDOWS with different camera views or
attachments in each and the GRAPHICS W INDOW can be resized at
any time. The computation, graphics, user interface, and the total
processing rates are displayed in the upper right hand corner.
Additional information describing the overall efficiency of the scene
is also presented here.
Graphics Window
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Change View
Changing the view is a very basic operation in Jack. A view change
can be done at any time just by holding down the <Ctrl> key.
Whenever the <Ctrl> key is depressed mouse movement
manipulates the camera location. Releasing the <Ctrl> key returns
operation to whatever you were doing before.
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Finally, the <RMB> pushes or pulls the focus point away from or
towards the camera. The only functional movement with the mouse
when pushing or pulling the focus point is up/down.
Command
CTRL
CTRL
CTRL
CTRL + SHIFT
CTRL + SHIFT
CTRL + SHIFT
LMB
MMB
RMB
LMB
MMB
RMB
Result
Rotate the camera
Pan
Zoom
Rotate the View Reference
Pan
Push/Pull the View Reference
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Select Entity
Space Bar Completion
If you know the name of a figure, segment, site or joint you are
trying to pick it can be easier to just type the name rather than
trying to pick it with the mouse. SPACE BAR NAME COMPLETION
makes it even easier. This feature is available in most text entry
boxes.
International Menus
Jack allows users to customize the menus. For more information on
available menus or customizing your own, please contact
SIEMENS PLM SOFTWARE.
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Hint: Use the MESSAGE W INDOW to find the name of another figure.
Type in new coordinates. Use the Text Entry boxes in the MOVE
CONTROLLER. When you are finished hit ESC.
Use the EDIT>UNDO Menu command.
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Note: The x-axis that the box translates along is the x-axis of
the world.
Rotate the large crate about the y-axis. Approximately 45 degrees
Click on the local option in the MOVE CONTROL.
Hold down the LMB button and move the mouse to translate the large crate
along the x-axis.
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Local transform
Hit the Space Bar once to toggle back to moving along the global coordinate
axes
Hold down the LMB to see the result
Hit the Space Bar to toggle back to moving along the local coordinate axes
Make sure you try all the combinations of Mouse Buttons as well as
the Shift Key.
Exercise: Context Sensitive menus
Create a human figure
Right Click RMB on the human figure.
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Right Click RMB in an open area in the Graphics Window. (Not on a figure)
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Rather than picking a figure with the mouse, click in the Figure Name Entry
Box.
Type the letter C
The space bar completion will fill in human and beep. The beep
indicates that the name could not be completely resolved.
Note: File names are also case sensitive.
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.env files are also stored as ASCII text and can be opened/edited in
a text editor. Environment files can reference the .fig and .pss files.
This allows the user to reference one .fig or .pss file multiple times
in the same environment file or in multiple environment files. This
can help reduce the overall size of files associated with a given
project. This is also useful if a figure is modified. If you would like to
have that modified figure in every environment file in which it is
referenced, replacing the old .fig file with the new .fig file will
automatically make the changes to the files that reference that .fig
file. This is also applicable to .pss files referenced in an .env file.
If changes are made to the figure that occur more than once in an
environment or a figure that is used in multiple environments, you
will need to save the .fig file when prompted. If you do not save
changes to the figure, the .fig file will be written to the .env file.
Therefore, if you dont save the figure, the .fig file will be embedded
in the .env file. Other .env files cannot reference .fig files that are
embedded in an .env file. To create a .fig file from a figure
embedded in an .env file, simply open the .env file and save the
figure. If you resave the environment, the .fig file will be referenced
in the .env file. The .fig file will no longer be embedded in the .env
file.
It is a good idea to save the .fig file after you make any changes or
before saving the .env file. This is only necessary if you modify the
figure. If you have already saved changes to a .fig file, you will not
be prompted to save the figure when you save the .env file. Note if
you change visibility this will flag Jack to prompt you to save the .fig
file when you save the .env file. If you say yes, the visibility
changes will be written to the .fig file. If you say no, the visibility
changes will be written to the .env file.
It is important to understand what is not saved in an environment
file. Reflections, view cones, skeletons, traces, ghosts, projections,
and support glyphs are not saved with the .env file.
Note: An Environment File (.env) includes all the information
required to recreate a scene. It contains information defining
relative locations between figures, joint positions, size, and
other constraints.
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Figures
(Command: FileSaveFigures)
Figures are a collection of one or more segments, as well as any
associated sites, colors, and joints. This data is stored in a Figure
(.fig) file. Figure files contain references to segment files (.pss),
sites, material properties, and joint connections.
.fig files are also stored as ASCII text and can be opened/edited in
a text editor. Figure files can reference the .pss files. This allows
the user to reference one .pss file multiple times in the same figure
file or in multiple figure files. This can help reduce the overall size of
files associated with a given project. This is also useful if the
geometry is modified. If you would like to have that geometry
modified in every figure file in which it is referenced, replacing the
old .pss file with the new .pss file will automatically make the
changes to the files that reference that .pss file.
If changes are made to the geometry, you will need to save the .pss
file when prompted. If you do not save changes to the .pss file,
Jack will use the last saved version of the .pss file. Therefore, if you
dont save the .pss file you will lose any of the changes you have
made to the geometry.
It is a good idea to save the .pss file after you make any changes to
the geometry. This is only necessary if you modify the geometry.
This includes merging or splitting segments. The addition of sites,
joints, and changes in material properties are saved to the .fig file
so there is no need to save the .pss file if you make any of these
changes.
Note: A Figure File (.fig) includes information about which
segments make up the figure, sites, colors, and joints
connections. (Joint connections and limits are retained when a
figure file is saved. Joint angles information is not contained
in a figure file.) Select the Include attributes check box to save
attribute information (for example, color selections)
Segments
(Command: FileSavePsurf)
Segments make up the lowest level of the hierarchy. They consist
of tessellated geometry data that makes up an object. This data is
stored as ASCII text in a Psurf (polygon surface) file that can be
opened with any text editor. This format is consequently easy to
view and edit. These files have the extension .pss. Two sample
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Psurf files are shown below in order to illustrate how segments are
constructed.
Note: Remember the properties of the different file types.
A Psurf (.pss) file, also referred to as a segment file, only
contains information defining a segment's geometry.
A Figure File (.fig) includes information about which segments
make up the figure, sites, colors, and joints connections.
(Joint connections and limits are retained when a figure file is
saved. Joint angles information is not contained in a figure
file)
An Environment File (.env) includes all the information
required to recreate a scene. It contains information defining
relative locations between figures, joint positions, size, and
other constraints.
Manipulations
(Command: FileSaveManipulations)
A scene or figure whose positions you want to use again later may
be saved as an .env file. Select the Include Camera check box to
save the coordinates of the current camera viewpoint coordinates.
Manipulations save the figure positions and joint angles. When
loaded they allow you to reposition your loaded figures.
File Archiving
(Command: FileArchiveSave File to Archive)
The save file to archive feature allows users to a) save a file to a
specified directory, b) save as one zip file, or c) both. Archive files
are written out compressed, generally resulting in much smaller file
sizes, especially when using psurf-only geometry.
Note: When saving your data to a directory, it is recommended that
a new folder is created, to avoid overwriting data in a previously
existing folder.
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Format
Vis / DirectModel
VRML 1.0 / 2.0
IGES 5.3
Stereolithography
Optimizer 1.1
Deneb IGRIP 1.2 parts
File Extension
(.jt)
(.wrl)
(.igs)
(.stl)
(.csb)
(.igp, *)
Output
1 pss file
1 fig file and corresponding pss files
1 env file and corresponding pss files
Limitations:
Joints within a JT figure: Segments within a JT figure can be
jointed, however, joints cannot be created between a JT figure
and another figure (native Jack or JT geometry). Attachments
can be used to create the same type of behavior.
Access to nodes, faces, and edges (includes no geometry
editing capabilities): Several features have been added in Jack
to help compensate for this.
- Zoom to: Allows users to zoom into any geometry in the
scene (including JT).The first piece of geometry in line with
the cursor will be selected
- Snap to Cursor Point: Same behavior as above but works
with move dialog.
Collision detection is not supported with JT geometry: Use psurf
swap to perform collision detection
Joints created within a JT figure will not be maintained in VMU
environment
A single part of a .jt assembly cannot be loaded individually
Segment highlighting may not work on all files
Adjust Displacement: Can be used to move segments without
creating a joint.
JT Export
Figures and scenes can be exports as JT. This option can be found
under File -> Export -> JT.
Single Figure will export a selected figure as a single part.
Scene export will export all relevant figures in a scene as several
parts of a monolithic .jt file
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Notes:
-In v8.2, JT Export does not support materials (colors). Exported
objects and figures will appear gray
-Texture mapping is not supported (ie, the psurf will export but
without any texture)
-Export is NOT supported for: 6.0/6.1 smoothskin human figures, or
JT figures
Translate Segment from JT
(Command: EditTranslate Segment from JT)
In order to translate a single part/segment of a JT file, select
Translate segment from JT either on the segment context
sensitive menu or from the Edit menu. This option is also available
from your segment context sensitive menu which is discussed in
the next chapter. The original JT part will still exist but the visibility
will be turned off. The translated part will constitute a separate
figure, but is attached to the jt figure.
Functionality
Psurfs
JT
Display Settings
View Snap
Snap to Sites
Snap to Vertices
Collision Detection
Add Sites
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Attach Figure To
Edit Materials
Texture Map
Only in TcVis
Edit Geometry
Create in Jack
Usage Details:
-The "root_override" site will be deleted if Undo is used after the
command.
-If the command is invoked multiple times the "root_override" site
will be moved - additional sites will not be added
Batch Translate Files
(Command: FileBatch Translate Files)
This command allows you to translate multiple files of the same
format into Jack native (.pss) files. The translated files will be saved
to the default home directory.
CAD Export
(Command: FileExport)
VRML or IGES output of a Jack scene is an option for generating 3D version of you scene that you can share with others that dont
have access to the Jack software. Jack can export individual
figures or the entire Jack Scene.
Please note, the IGES and VRML translators are now considered to
be legacy. While these are outdated, we have chosen to keep
them available in order to support existing workflows. Please note
that these translators are provided as is: we are no longer able to
provide any updates to them.
It is recommended that JT
import/open and JT export be used to manage your data.
VRML Export
(Command: FileExportVRML 1.0)
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Jack exports VRML 1.0. In both cases the segment definitions are
preserved in the VRML format. Assembly information, however, is
not saved.
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IGES Export
(Command: FileExportIGES 5.3)
Jack also exports IGES 5.3. IGES export includes the option to
save polygonal data as Bound Plane or Trim NURBS data.
Selecting the preserve hierarchy option will maintain segment
definitions (parts).
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Screen Capture
Screen images can be generated easily and imported into other
applications. They can be included in documents, presentation, emailed to colleagues and even placed on web sites.
Image Dialog
Screen Capture
Notice that you have the choice of several different file types to
save the image as. The options are slightly different for the
Windows and UNIX versions of the software. It is important to
specify the proper extension for the file type you select.
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Rendering
Selecting the Rendered check box generates a multi-pass rendered
image of the window. This will smooth jagged edges (anti-alias) in
the window image. Rendered images will take longer to create
because of the drawing process.
External Applications
There are cases where you may want to capture screen images
interactively, including areas outside of the GRAPHICS WINDOW . You
may want to capture the entire screen, including Jacks graphics,
message, and command window or you may want to capture an
image as you do something in Jack (e.g., to show the adjust joint or
move glyphs during a manipulation).
Platform
Windows
Windows
SGI
Command
PrtScr
Alt + PrtScr
type snapshot in shell
Result
Captures the entire screen
Captures active window
Starts SGI screen capture
utility
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This command will close the OPEN FILE DIALOG and load a
previously saved environment into your graphics window. Your
graphics window should look similar to the following.
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Chapter_2.env
Move the cursor over the human figure and the boxes (do not select
anything).
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Select Open
Notice the JT file of a workcell comes in rotated about Jacks grid.
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Name your new screen capture file (it will be .jpeg file format)
Hit the Save button. You have now created an image file.
You will see the snapshot control button appear over the Jack
window.
(SGI) Move the mouse over the snapshot button; press and hold the Ctrl key
the cursor should change to the image of a camera.
(SGI) Click and drag the rubber band box over the screen area you want to
capture.
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You also have the option of scaling interactively the change will
take place immediately or waiting for the Apply button to be
picked to have the scaling take place. The scale factor when you
scale interactively is always relative to the size of the figure or
segment when it is selected. The size indicated by a scale factor of
1.0 does not change.
Another option is scaling relative to the global or local axis. This
effect is noticed when the object is rotated. When scaling relative to
the global axis the object may appear to distort.
Note: Global scaling is not saved in Jacks .env or .fig format. To
recreate this effect the effected segment must be saved globally as
a psurf.
Materials
(Command: EditMaterials)
One of the most basic display parameters in jack involves color. In
Jack, the appearance of objects in the environment depends on the
material properties of the surface as well as the parameters of the
light sources in the scene.
Color:
Predefined or user defined colors can be used when creating
materials. These are three component RGB color definitions that
are used to define the ambient and diffuse parameters in a specific
ratio. The parameters of the surface materials are:
Ambient:
The color of the surface when not illuminated by a light sources.
Diffuse:
The color of the surface when illuminated by white light.
Specular:
The color of the specular highlights of the object.
Glossiness:
An integer exponent describing the specular scattering of the
surface. The lighting model simulates specular highlights using the
cosine of the angle between the viewing direction and the reflected
light ray, raised to the glossiness exponent. If this exponent is large
(approximately 50), the specular highlights are small and focused. If
the exponent is small the highlights are broad.
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Note: Material names are associated with the default color the
object was assigned when it was loaded. Changing the color
will not change the material name.
Textures
(Command: EditTextures)
Texture maps are a useful way to add interesting detail and realism
to your scene without adding a lot of extra geometry. Jack uses the
concept of a texture plane to determine how to map the image file
onto the surface or surfaces you select. The relative position and
orientation of the plane and the texture faces determine how the
image will be projected.
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Key Bindings
System Defaults
(Command: EditSystem Defaults)
Jack allows you to customize many features within the working
environment. The SYSTEM DEFAULTS DIALOG contains settings and
controls for the graphics window and the system. Any changes that
are made to the System Defaults will remain in effect until the
Factory Defaults are restored.
This dialog has several tabbed pages that define the current
system defaults for various components of Jack. To display a page,
click its tab. To modify any system default, select the appropriate
page, make desired changes, and then click the Apply button to
save all changes on all pages. If you dismiss the dialog without
applying the changes, you lose all changes since opening the
dialog or the last time you clicked Apply. The pages available from
the System Defaults dialog are (see Appendix for more details):
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Distorted Barrel
Scale the X and Z axes back to 1
Select the local option
Scale the X and Z axes by 3
Note: The figure is not distorted this time because the figure is
scaled along its local coordinate system.
Exercise: Scaling the Environment
Create a human
Select Edit---Scale---Scene
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Move the texture plane in front of your table top and align it with the top face
of the table using the Align to Face pick button. Note: You can move the
texture plane just like any other figure in the scene.
Select the texture file using the Browse button. Look in the Textures Folder,
and select a texture.
Hit the Apply button
Notice that the texture plan now displays the image file you selected. The
texture mapping dialogue box has automatically switched to the second tab.
Position the camera, the table, and the texture face so that when you look
through the texture plane at the cube the image in the texture plane falls
where you want it to be on the table.
Select the top two faces of the table as the faces you want texture mapped
as the target
Click the Tile Texture button off
Hit Apply
Move the texture plane out of the way so you can see the cube (you can
delete the texture plane if you want)
You should now see the texture on the table top.
You can
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Enter a p in the Key Stroke text box, and pick the Control option
Select menu pick for the type of thing to bind.
Expand the human menu by clicking on the box next to the word Human.
Select the Properties option
Click on the Bind button to add to list of key bindings. Hit Apply to actually
have the key binding take affect
Dismiss the KEY BINDING DIALOG
Type Ctrl+p. The HUMAN PROPERTIES DIALOG should be on the screen.
Note: Key bindings will still be set next time you use Jack. You dont have
to reset the shortcuts every time you use Jack.
Open the KEY BINDINGS DIALOG again
Click on the <Control-Key-p> in the list of key bindings
Click on the Edit button
Notice that this shows what is currently bound to the Ctrl+p. You
can change the binding if you wish.
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Named Views
(Command: ViewNamed Views)
Frequently used views can also be saved allowing you to easily
position the camera in a specific location. This camera location can
then be used in this environment, as well as in other environments
you may be working with. This is a useful tool for capturing images
for presentation material.
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Current Windows
(Command: ViewCurrent Windows)
This command allows you to select which window in the set to
display as the current (working) window.
Stereo Properties
(Command: ViewStereo Properties)
You can immerse yourself into Jacks world with the latest in virtual
reality techniques, including stereo glasses, boom- or helmetmounted displays (HMDs), CyberGlove, and full-body motion
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Object Hierarchy
(Command: ViewObject Hierarchy)
The OBJECT HIERARCHY provides an alternative view of your scene
that clearly shows the relationship between different figures and
their component parts. It can be expanded or collapsed to help view
the current scenes underlying structure.
It initially contains a listing of all Figures in the current environment.
These individual Figures can be expanded to display their
segments and joints. Individual segments can be expanded to
access their sites. Finally, individual joints can be expanded to
display the connection segment-site combinations.
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Process Simulate.lnk
Object Hierarchy
Toggle Log Windows
(Command: ViewToggle Log Window)
This command will toggle the display of the Jack log file.
Toolbars
(Command: ViewToolbars)
This command allows the user to customize the display of the Icon
Toolbar.
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Segment Visibility
Toggle the segment visibility from VIEW > TOGGLE SEGMENT VISIBILITY
This toggles visibility for all segments. Note the results in the
graphics window.
Turn off the segment human.bottom_head
Toggle segment visibility again
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Note: MAKE ALL VISIBLE will make the whole scene visible.
Exercise: Shading Options
Delete the scene and open Chapter4.env again.
Now lets change the shading options of the entire scene.
Select the menu option VIEW->W IREFRAME SCENE
You should now see the entire scene as wireframe.
To get back to shaded mode, select VIEW->SHADED SCENE
Wireframe Scene
Exercise: Advanced View Control
Next, open the VIEW CONTROL DIALOG
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The clothed figures have been set as the default figures and can be
accessed by clicking on the Create default male/female icons along
the toolbar:
The base figures can be found in the Human Library: Human->
Create -> Human from Library
v6.0 Figures
With the Jack v6.0 release, figures with deformable surface mesh
construction were introduced. These figures were the first
generation of this technology and remain available to support
legacy studies. However, it is not recommended that these figures
be used for new studies, as the visual look and anthropometric
scaling fidelity of the latest figures surpass these early ones.
Segmented Figures
The segmented figures represent the original Jack figure type.
These humans are built of non-deforming geometry to represent
each segment. The segmented figures can be used for Advanced
Scaling, where the user has additional control over individual
segment dimensions.
For any figure type, if you wish to change the skin, hair or clothing
colors on your figures, this can be done by right clicking on the
human in the Jack scene, selecting Properties and going to the
Materials tab. Chose the material you would like to change from
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the list (ie. Pants), and click on Properties to bring up the color
palette.
Human Hands
Disembodied Hands
(Command: Object -> Create -> Figure from Library)
At times it may be expedient to only work with individual
disembodied hands as compared to posturing the entire body.
Therefore, disembodied hands have been introduced that can be
loaded from the Figure Library.
These hands are have the same anthropometry detail as are found
on the new figure, and the new hand shape dialogs can be used to
posture them.
Note that the anthropometry of these disembodied hands currently
cannot be changed
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WHR Slider
33/47 = 0.70
The Waist to Hip Ratio slider is only available for the latest
figures. All legacy figures will continue to scale using the
previous scaling methods. This is to ensure that workflows
which rely on older figures (and scaling) are not disrupted.
If you are using a machine with low memory, try checking
the Conserve memory during anthropometric scaling
check box in System Defaults->UI dialog. This will reduce
the memory foot print of scaling operations.
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Create
(Command: HumanCreate)
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Advanced
(Command: HumanCreateCustomAdvanced Scaling)
The Advanced Scaling Panel allows for additional control over the
segmented human dimensions by letting the user specify a number
of anthropometric measurements for the human.
When using the segmented figures, Jack also allows you to model
humans of any dimension, not just 5th and 95th models. The
advanced HUMAN SCALING PANEL lets you create manikins using
specific anthropometric dimensions.
Jacks Anthropometric Dimensions
Stature
Foot Breadth
Abdominal Depth
Foot Breadth
Ankle Height
Hip Breadth
Acromion Height
Interpupil Distance
Arm Length
Shoulder Elbow Length
Biacromial Breadth
Sitting Acromial Height
Bideltoid Breadth
Sitting Eye Height
Buttock Knee Length
Seated Height
Elbow Rest Height
Sitting Knee Height
Elbow-Fingertip
Length Thigh Clearance
Foot Length
Thumbtip Reach
Hand Breadth
Head Height
Hand Length
Head Length
Head Breadth
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Human Copy
(Command: Human Copy or RMB on Figure Copy)
Often it is desirable to quickly copy postural, anthropometric or task
specific parameters from one human figure to another. For
example, you may want to test different sized individuals reaching
to the same location. The Human Copy functionality addresses
these needs.
Goal based
Note that this option is not available if the Source and Target
Figures are of different genders.
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Copy Source
Copy Target
Anthropometric dimensions
to be copied between figures
v70-base/clothed
v70-base/clothed
all
v6x-default/segmented
v70-base/clothed
link lengths
v6x-default/segmented
v6xdefault/segmented
all
v70-base/clothed
v6x-default
not supported
v70-base/clothed
v6x-segmented
link lengths
Properties
(Command: HumanProperties)
In Jack, human figures are like other types of figures, except they
have pre-defined sites, segments, joints, and constraints. There are
also special ways of manipulating them and describing their motion
(see Human Control dialog). Properties in this dialogue that are
common to all figures will be further discussed in the next chapter.
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Skeleton
(Command: Human PropertiesDisplay Tab)
Figures with joints have an underlying linkage structure that can be
displayed. Specifically, the joint locations and the segment structure
between these joints are displayed.
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Human Behaviors
Human Control
(Command: HumanHuman Control)
The Human Control Panel was completely updated for v8.0. To
support rapid and easy figure posturing, various dialogs used to
control the figure were consolidated into one common user
interface. This includes the old Human Control Panel, human
behaviors, adjust joint, all hand posturing dialogs, posture libraries,
force-based posture prediction as well as the loads and weights
dialog.
The Human Control Panel can be launched from the main toolbar,
by clicking on
. It is also available if you right-click on the
human in your scene and choose Control from the context menu.
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direction is changed when bracing conditions are a factor, and can include
substantial off-axis components that impact biomechanical loading. The
braced posture prediction is based on these research findings and
computes feet location, body posture and forces.
From the Human Control Panel, load and position one or both of the hand
and thigh surfaces, then chose a point in the scene for the figure to
reach/grasp with the free hand(s). The bracing surfaces will be considered
during posture prediction. Furthermore, Jack will look to see what hand
loads (if any) are on the figure and will apply the appropriate bracing
forces, as well as update the task hand force according to the research
observations. Braced posturing allows you to predict more realistic
postures in scenarios where bracing is possible. In addition, braced
posturing impacts your ergonomic analyses, providing a more realistic
representation of the forces acting on the human.
Tabs on the Human Control Panel
Each tab on the control panel contains a collection of useful options
for posturing and controlling the human figure. In addition to these,
you can click on the image of Jill, to access a menu of posturing
options for each body part. For example, you can lock/release
body parts from this menu as well as access the manipulate and
grasp commands for the hands.
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When Allow Yaw is clicked for the Hand Lock option, this will hold
the location of the hand, while allowing ulnar/radial deviation.
Bracing using the hand and/ or thigh brace glyphs, you can
specify if there are surfaces in your scene that Jack/Jill can lean on.
These will be considered when predicting the overall figure posture
AND will update both the task hand forces as well as apply bracing
forces. The functionality is based on research conducted at the
University of Michigan (www.humosim.org).
When you click on Add Hand Brace / Add Thigh Brace, a glyph will
load into the scene. Move the glyph to a location where the human
can rest their hand/thighs. For example, if working at a table, the
human may be able to rest their thighs against the edge of the
table, and their hand along the surface of the table. Once the
glyphs are positioned, you can manually manipulate the exertion
hand(s) or choose to grasp an object, and the posture prediction
will use these bracing surfaces to predict a realistic posture.
If Allow force updates from bracing is checked, braced and task
hand forces will be updated and applied to the figure. If unchecked,
there will be no change to any loads & weights on the human.
If Display initial hand force(s) is checked, a magenta colored force
arrow will appear in the scene to visualize the magnitude and
direction that was originally entered prior to a bracing scenario
solve.
Foot Placement Zone when loaded, a red zone (plane) will
appear in your scene. The zone will be used as a barrier for
Jack/Jills feet during posture prediction. You can scale the zone to
represent boundaries for where your human can place their feet.
Vision Targets This allows you to select where you want your
human to look when postured. You can choose a site on an object
(Follow Site) and as that object is moved, the humans gaze will
follow.
Grasp From the Jill image, you can right click on a hand to
access the Grasp Figure and Grasp Segment commands. These
allow you to pick anywhere in your scene and the human will
automatically reach to this location and grasp the figure/segment
(using collision detection).
If Precision Grasp is checked, the hand will close around the
selected object using this grasp type.
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Note: Access to the adjust joint feature will grey out for a body
region if other behaviors are set that prohibit a change in joint
angle. For example, if the hands are locked, you cannot adjust the
shoulder joint.
Predefined Postures
A library of full body postures as well as hand postures can be
accessed from this tab. You will also find images of each posture
for easy visualization.
Interpolating Hand Postures From the Hand Posture list, you can
Right click on a posture and select Start. Then you can click on
another posture, and select End. This will enable the Interpolate
slider which allows you to choose a posture somewhere between
the two selections.
Save Posture at any time, you can click on save posture at the
bottom of the Human Control Panel. This will bring up a Save
dialog, where you can choose to save the whole body, or a hand
posture.
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A Lock symbolizes that the body part is locked and will not change
unless set to Unlock.
Undo Last Step- if you make a mistake while posturing your figure,
clicking Undo Last Step will send you back to the previous state.
Dock Dialog (bottom right on Control Panel) when checked, this
automatically positions your Control Panel and TJ window beside
one another. You will still have the freedom to move your dialogs,
but the benefit is that the windows are conveniently arranged for
you, without any extra button clicks.
Shortcut to Default Standing and Default Sitting Postures If you
right click on a human in your scene, you will find the Default
Standing/Sitting postures available on the context menu. This
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Eye View
(Command: HumanEye View)
The EYE VIEW DIALOG can be used to create a first person view from
your human figures. This lets you see what your human is seeing.
You can choose to create the eye view in your existing window
(TJ_Window) or create a new window. Eye views can be created
with the Head Forward, for Both Eyes, or for the Left or Right Eye
Only.
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View Cones
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th
You can also select an Anchor site (Heel, Eye Level, Hpoint) which will
dictate where the figure should begin scaling from.
Hit Scale Existing
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Scaled figures
Right click on the segmented human in your scene
Choose the scale option
Choose the Advanced Scaling Button on the bottom of the menu
You should see that you are able to change the dimensions of specific body
measurements
Adjust the Arm Length dimension of one of your humans
Once you have completed changing the size of your human from the
advanced scaling panel, lets save the new humans dimensions.
In the Save As field, name your human Fred (or any preferred name)
Select Add to Menu
Select Dismiss
Open the menu Human->Create Human you should now see Fred as one of
the options
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.
Select the Predefined Postures tab.
Scroll through the Full Body Postures list and click on Point. You may be
warned that some body parts are locked. Click Yes to proceed.
In the Hand Posture area, select the Left side and scroll through the list to
find Fist.
Right click on Fist and select Start Posture.
Scroll to find Neutral. Right Click on Neutral and select End Posture.
Adjust the Interpolate slider to adjust Jills hand posture.
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Use the RMB on the human and select Default Standing Posture.
Use the RMB on the human and select Postures.
Select stand_overhead posture for the human from list.
Choose other postures to see what they look like.
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Note: The menus for display can also be found in the Human
Properties Display Tab.
Exercise: Human Posturing
This exercise will introduce you to the features in the Human
Control Panel, including the latest methods of whole body posture
prediction and auto-grasping. Jack allows you to identify surfaces
in your scene for the human to brace or lean against. These
surfaces will be considered when a posture is generated. In
addition, Jack will also look to any loads applied to the hands and
predict a posture that reflects the required exertion level. The
posturing options in the Human Control Panel offer a repeatable
way to quickly generate real-world postures for your figures. The
posture prediction algorithms within the Human Control Panel are
influenced by the collection of work from the University of
Michigans Humosim laboratory.
Load a new default female figure.
Move Jill in front of the shelf
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From the Control Panel, for the Left Hand, click Adjust Grasp.
Using your mouse buttons, move the hand on the box to create a realistic,
collision free posture. (You will see the grasp update automatically as you
move the hand to different locations on the box.
Put your mouse cursor in the middle of the tabletop table top and click the
LMB. This will snap the box to the tabletop.
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From the Human Control Panel, make sure the Prediction method is set to
Standing.
In the Bracing section of the Control Panel, Click to Add Hand Brace (left
hand).
A glyph will load into the scene in Snap mode. Click a spot on the table, to
the left of the box, to position the hand brace. This is the spot you think a
person would lean on when reaching to the box.
Click Add Thigh Brace. This will load a thigh brace glyph into the scene in
Move mode. Use your mouse buttons to adjust the glyph so it is on the edge
of the table in front of Jill.
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From the Control Panel, Foot Placement Zone section, click Add.
Next to Length type 40 and hit Enter on your keyboard.
Right click on the red foot zone in your scene and select Move.
Use your mouse buttons to move the foot zone so it is no longer under the
table (it should align with the edge of the table).
In the Control Panel, select Right Hand for the Vision Target.
Next you will assign a load to Jills hand, to represent her pulling the box towards her.
Note: forces in jack are always entered as reaction forces.
Switch to the Loads & Weights tab of the Control Panel.
Click Add Load.
In the Load Editor dialog, select the Right Palm Center from the drop down
menu.
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Click Apply (you should see the new load appear in the list of the Loads &
Weights tab)
Return to the Reach & Grasp tab of the Control Panel.
From the human image in the Control Panel, click on the Right hand and
select Grasp Figure.
From the Jack scene, click on the far edge of the box.
From the Control Panel, Grasp section, click Adjust Grasp for the right
hand.
Use your mouse buttons to tweak the grasp on the box. The hand posture
will continue to update automatically as you adjust Jills hand position.
Click Esc. when done.
From the Control Panel, Bracing section, click display initial hand force(s).
A magenta arrow will appear in the scene, which represents the direction and
magnitude of the hand force exertion you entered in a previous step.
Go to the Loads & Weights tab of the Control Panel.
Click on Show All to display the bracing forces applied for your posture
scenario.
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Notes:
1. When a person braces against a surface, they often exert a
force on that surface. These forces change the biomechanics
of the posture scenario. In order to most realistically represent
your scenario, braced forces are applied to the human, and
can be reviewed in the Loads & Weights tab. If you are using
the Human Performance tools, these loads will be considered,
thus offering a more realistic assessment of the human
demands.
2. It has been observed (Humosim, University of Michigan) that
when surfaces are available to brace on, the direction and
magnitude of the original task hand force is often different
from what the person was originally asked to perform. When
bracing surfaces are used for posture prediction in Jack, the
original hand force data is displayed in magenta in the scene
and the resulting predicted forces are shown in blue.
3. Even if bracing surfaces are using during human posturing,
any forces applied to the palmcenter sites will be considered,
offering the most realistic representation of the posture, given
the required force exertion.
Click Dismiss to close the Control Panel. You will notice that all posturing
glyphs from your scene are removed when the dialog is closed.
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Note: The eye view can help you identify any obstructions in
the design.
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Create Light
Jack provides a flexible lighting and display model. It allows you to
set object colors, rendering and display modes, modify light colors,
move lights, map textures to objects, and even animate lights,
colors and scaling for interesting visual effects.
You can create lights of various colors and intensities using the
LIGHT PROPERTY DIALOG. You can move the light icon around the
environment as you would any other object.
Note: Lights in Jack are actually point sources and therefore
have no direction.
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A motor
A wooden pallet
A roller table
Roller surfaces
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DIALOG. You have the option to edit or create new nodes, edges,
and faces.
Note: These changes are not saved in Jacks .env or .fig
formats. The segment must be saved as a psurf.
local reference, for the figure. If more than one site exists on a
figure, this local reference can be changed.
Visible
(Command: ObjectPropertiesDisplay Tab)
A basic function in Jack is the ability to turn specific objects On or
Off. This disables the display of the object so that it is invisible.
This is different from actually deleting the object in that all
behaviors associated with this object still exist only the rendering
is disabled. In large environments, turning objects that are not
being used off will help improve processing time.
Shaded/ Wireframe/ Transparent
(Command: ObjectPropertiesDisplay Tab)
Jack also allows you to control the drawing method for these
objects. Wireframe mode draws edges between the nodes that
create a face. Shaded mode fills in all faces making up individual
segments. Transparency mode shades the object but objects
behind it can still be seen.
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adjacent faces. The actual location of nodes and faces does not
change.
Flat shading takes less computation time, so permits faster
rendering. Smooth shading provides a more realistic looking
segment, but may result in slower animations and system response
to segment movements.
Note: The smooth and flat shading options control how the
object is rendered.
Trace
(Command: ObjectPropertiesDisplay Tab)
Another convenient analysis tool is a trace of where an object has
been during a motion. A trace is a graphical trail that objects leave
behind as they move through the scene. Jack provides for the
capability of tracing sites, and segments.
Note: A trace captures an objects position at specific
intervals. A trace does not represent the actual path of an
object.
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Figure Ghost
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We will now create a new site on the figure (we will use a barrel).
Move your view over to one of the barrels in the scene.
Open the SITE PROPERTIES DIALOG from the OBJECT>CREATE>CREATE SITE
menu.
In the Segment Entry select the barrel as the segment.
You will then be sent into MOVE for the new site. Notice that your move
button in the upper toolbar is red.
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In order to verify that you have a new site, lets display the sites of the
barrel.
Dismiss out of the Create Site Window.
Right mouse click on the barrel.
Choose DISPLAY>TURN SITES ON
You should now see the new site on the top of the barrel.
In order to turn the sites off right mouse click on the barrel and choose
DISPLAY>TURN SITES OFF.
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Exercise: Lighting
Select the OBJECT->CREATE ->CREATE LIGHT menu option
Set the color of the light to white
Hit Create
Move the light in your scene. It is a figure that you can move like any other
figure
Note: Rotating the light icon will not have an effect. Lights are
actually points source and thus dont have direction.
Increase the intensity of the light
Hit Apply
Select a different color for the light
Hit Apply
Click the visible option off
This simply turns off the display of the icon. The lighting effects are
unchanged.
Hit Apply
Click the visible option on
Hit Apply
nd
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Use the RMB to the figure context sensitive menu for one of the light figures.
Select the delete option
Moving a Node
Now lets modify a face on the cube
Set the Entity Type to FACE
Select the MOVE option
Pick a FACE on the cube
Move the FACE
Hit Dismiss to close the Modify Geometry Menu
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Select the move controller (from the top toolbar or by right clicking on the
object and selecting move) and move one of your barrels. Notice the barrel
moves from a root site that is located at the center of the barrels base.
Open the Figure Properties Dialog from OBJECT>PROPERTIES>FIGURE
PROPERTIES
Select the construction tab.
Using the selector choose one of the barrels in the scene.
Note: The objects original root was at the center of the base.
By changing the root site the object now moves about the new
root site.
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The next several exercises will take you through some of the
display options for geometry in Jack.
Exercise: Visibility
You can turn objects on and off in the scene.
Use the RMB on the Human and choose DISPLAY->VISIBLE
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Click on the trace option and the delete trace button to delete each
of the traces.
Note: You may have to use the OBJECT HIERARCHY to pick the
segments if they get hidden behind the tracings.
Close the SEGMENT PROPERTY DIALOG
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Attachment Tab
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Properties
(Command: ObjectProperties)
Each of the different entity types has a property dialog. The
selections are located in the OBJECT MENU under PROPERTIES or in
the context sensitive menus for that object type. Property dialogs
display information about the structure and status of an entity. From
the property dialog you can also create, delete, rename or change
the characteristics of an entity.
These options apply to figures, segments, individual sites and
nodes. Specific display options can be found in the each object
types PROPERTIES DIALOG (<RMB>PROPERTIES).
Figure Properties
(Command: ObjectPropertiesFigure Properties)
The FIGURE PROPERTY DIALOG includes many options available for
specific figures as well as access to lower level property dialogs
associated with the figure.
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Segment Properties
(Command: ObjectPropertiesSegment Properties)
The SEGMENT PROPERTIES DIALOG is available for any object in the
Jack environment. You can view construction information and
display options from this dialog.
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Site Properties
(Command: ObjectPropertiesSite Properties)
Jack uses the concept of Sites to define specific coordinate
locations in 3D space. More specifically, Sites are triad axes that
define position and orientation relative to a segments local
coordinate frame. They are the mechanism that allows you to
specify constraint goals, joint centers, or even measurement points.
Each segment also contains what is termed a Root Site. In a figure
file, this site can be named anything; however, it is normally called
base. It is the point from which the object is constructed and
represents the segments local coordinate (0,0,0). The root site will
never change locations relative to the segment. However, as the
segment is moved around, the site will have varying global
coordinates to reflect its position in the world.
You can view information regarding a particular site or create a new
site through the SITE PROPERTIES DIALOG.
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Joint Properties
(COMMAND: ObjectPropertiesJoint Properties)
Articulated figures are created in Jack using Joints. Joints allow
you to define the type of articulation between two segments by
specifying the type of DEGREES OF FREEDOM (DOF) and the origin of
this articulation. You can view, create, and edit joint information
through the JOINT PROPERTY DIALOG.
When you create a joint, you must define the connection point. You
have a choice of defining this point with the create joint between
segments or the create joint between sites option.
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Face Properties
(Command: ObjectPropertiesFace Properties)
The next important piece of geometry in Jack is the face. The list
of vertices or nodes is used to define polygonal faces. The
FACE PROPERTIES DIALOG contains construction information for a
particular face. It displays the material assigned to the face, the list
of nodes that form the face, the local and global coordinates of the
face center and the face normal.
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Reflection
(Command: ObjectPropertiesFace Properties)
Reflection Maps can be created for any polygonal surface or face in
Jack. They can be use in Jack to analyze planar mirrors. It is
important to note the quality of the reflected image is determined by
the quality of the graphics card. You can create a reflection map by
turning on an objects projections under the Object Properties
dialogue.
Note: Light does not reflect so the location of the light source
is an important consideration when reflections are used.
Reflective Face
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Edge Properties
(Command: ObjectPropertiesEdge properties)
The edge in Jack is the connection between two nodes within a
face. Edges determine the look of an object when it is displayed
wireframe. The EDGE PROPERTIES DIALOG contains construction
information for a particular edge. It indicates which faces are on
either side of the edge and which nodes are at either end.
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Node Properties
(COMMAND: ObjectPropertiesNode Properties)
The lowest level of geometry is the node. Nodes define specific
coordinates in 3D space used to define faces and edges. In a Psurf
(.pss) file they are the first list of numbers. The NODE PROPERTIES
DIALOG contains construction information for particular vertices. It
displays the local and global coordinates for the node as well as the
edges and faces the node contributes to.
Adjust Joint
(Command: ObjectAdjust Joint)
A joint can be manipulated using the ADJUST JOINT DIALOG. When
you are in the adjust joint command you can move the slider bar,
enter a numerical value, or dynamically adjust the joint with the
mouse in the graphics window. The joint order determines the
corresponding mouse button. First in the list is the <LMB>, second
in the list is <MMB>, third in the list is the <RMB> etc.
When you dynamically adjust the joint with the mouse, an
adjustment arrow or rotation wheel will appear that specifies the
current adjustment type and direction. The arrow indicates a
translation and the rotation wheel indicates an orientation
adjustment. In addition, the rotation wheel will appear with sections
of red and green. The green section defines the range through
which the joint can be rotated.
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Note: When degrees of freedom (dof) are created for a joint, the
order in which they are created determines the corresponding
mouse button. First in the list is the <LMB>, second in the list is
<MMB>, third in the list is the <RMB> etc.
Motors On/Off
(Command: ObjectMotors On/Off)
This allows you to turn on or off all motors in the scene.
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Interactive Reach
(Command: ObjectInteractive Reach)
An Interactive reach is similar to an ordinary constraint, except that
there is no fixed goal. The goal is a global transform which you
manipulate interactively. Also, the relationship type is automatically
set to point-to-point. Interactive Reach can be applied to any jointed
figure and to manipulate any kinematic chain within a human figure.
This dialog lets you select a site or node on a segment of a figure
as the point that you want to move into position. You also define a
starting joint for the figure's motion (similar to those discussed in
the constraints section of this chapter). Jack will use its inverse
kinematics to determine the figure position as you move the end
site or node.
Paths
(Command: ObjectPaths)
Use this dialog to either create or edit a path in the Graphics
Window to be used with the animation system.
Paths can be used to have an object follow along, or to have a
human walk along during a simulation. This will be covered more in
the Animation System Chapter.
Path
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convention
in
the
entry
box
is
in
the
entry
box
is
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from
the
object
library
Reflective Face
Exercise: Adjusting a Joint
In this section you will learn how to adjust single joints of a figure.
Move your view over to the Robot in the scene
Open the ADJUST JOINT DIALOG from OBJECT>ADJUST JOINT menu
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Note: Each DOF has its own slider with an upper limit, a lower
limit, and a text entry box.
Adjust the joint by moving the Slider Bar.
OBJECT: PROPERTIES:
JOINT
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Move the end effector of the Robot using your Mouse Buttons
Rotate the end effector.
st
Hit the Add After option once you have your second point where you want it.
Continue to move and add sites on the path until you have a path on the floor
of your facility
Dismiss out of the Path Dialogue
You can also edit the points of the path if you need to move one
after you have created it.
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Note: Paths are a figure in your scene. You and use Context
Sensitive Menus to edit and change the visibility of the path.
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Collision Detection
(Command: UtilitiesCollision Detection)
Collision Detection is an analysis tool which aids in identifying the
proximity of objects/humans to one another. This tool allows you to
define multiple collision sets and it provides feedback as to whether
collisions have occurred. Collisions can be checked between
combinations of humans, JT objects and native Jack geometry.
For step-by-step details on how to use Collision Detection, click on
the Usage in the bottom right corner of the dialog.
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Constraint
(Command: UtilitiesConstraints)
Constraints specify conditions between figures that the simulation
system must try to reach. In other words, constraints are desired
relationships that are met as closely as possible. These
relationships can be described in terms of Position, Orientation, or
both. Jack uses inverse kinematics to manipulate multiple joints in
a figure to satisfy the constraints as closely as possible. As with
Joints you can view or edit constraint information through the
CONSTRAINT PROPERTY DIALOG. Since this is associated with
environments rather than objects this function is accessed from the
UTILITIES MENU under CONSTRAINT (UtilitiesConstraintConstraint
Properties).
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Constraint Dialog
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Type of Goal
Closest Node: Use this type of goal to pick a segment as the
goal. This constraint applies to the closest node on the
segment.
Face: Use this type of goal to select a face goal. When you
select a face goal, the end effectors is directed toward any
point on the face.
Hold: Use this type of goal to specify that the end effectors
should remain in its current location. The position and
orientation of the goal is taken from the current location of
the end effectors when you create the constraint.
Node: Use this type of goal to specify a point that is on a
site.
Relative Transform: Use this type of goal to specify a point in
space relative to a segment goal and then click the Set
Transform Location button to set the location relative to the
goal.
Site: Use this type of goal to specify a point that is on a site.
Transform: Use this type of goal to specify a point in space.
When you select this type, there is no goal edit field. Click
the set transform button to set the location.
Goal
This edit field and its associated pick button exist to select the end
effector based on the type of goal. For hold and transform goals,
this edit field isnt visible.
Set Transform Location
This push button is only available for Relative transform and
Transform goal types. Click this button to set the graphics window
using normal mouse controls.
End Effector Type
Use this option menu to select one of the following as the end
effector:
Closest Node: Use this type of goal to pick a segment as the
end effector. The constraint applies to the closest node on
the segment.
Node: Use this type of goal to specify a point end effector
that is a node.
Site: Use this type of goal to specify a point end effector that
is a site.
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Positional Relationship
Use this option menu to select the desired relationship between the
position of the goal and the position of the end effector. The
available relationships are:
limit_spring: used to push away from a joint limit.
point_to_line: position the end effector along a line.
point_to_plane: position the end effector along the plane of
the goal. Selecting this option displays a Plane Normal
Vector edit field. The normal vector you enter is local to the
coordinate frame of the goal. The plane is assumed to pass
through the origin of the goal.
point_to_point: position the end effector at the point of the
goal.
rest_angle: used to pull towards a rest angle.
none: there is no positional relationship between the goal
and end effector.
Orientation <---->Position Weight
Use this slider bar to change the weighting used to optimize the
figure's position. Zero represents fixed orientation; 1.0 represents
full weighting given to the figure's position.
Relative Constraint Weight
Use Current Orientation Offset: Select this check box to use
the current orientation of the goal and end effector to define
an orientation offset.
Use Current Position Offset: Select this check box to use the
current position of the goal and end effector to define an
position offset.
Active: Select this check box to make this constraint active.
Simulation Updates
(Command: UtilitiesSimulation Updates)
SIMULATION UPDATES turns off the simulation engine and frame
updates, so that constraints, motors, and anything else that
updates over time is stopped. Direct manipulation, like adjusting
joints, still functions normally. Probably the most common use is
with motion tracking, where it allows users to modify the scene
without constraints constantly moving things around. Its a quick
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Measure Distance
(Command: UtilitiesMeasure Distance)
Scalar
MEASURE DISTANCE is a convenient way to obtain static dimensions
between two points in space. This command lets you position to
endpoints in a line and then calculates the scalar distance, XYZ
component vector distances, and the XYZ rotational differences.
Advanced Rulers
The Advanced Ruler tool was introduced in v7.1.
Taking measurements in the Jack scene is commonly used to help
arrange geometry, as well as when assessing and communicating
issues such as hand clearance and reaching. The Advanced Ruler
tool allows you to quickly create and customize rulers within your
scene. You can select from various line styles and thicknesses as
well as visibility options. The rulers can be saved with your
environments and captured in images to help communicate
dimensioning concerns with others.
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The Advanced Ruler tool can be found in the Utilities menu ->
Advanced Rulers -> Create/Edit.
You can also find a list of all the rulers you have created or saved
with your scene in the Utilities menu -> Advanced Rulers - >
Current Rulers
A full description of how to use this utility can be found by clicking
on the Usage button in the Advanced Ruler dialog.
Rulers
(Command: UtilitiesRulers)
A ruler allows you to dynamically display the distance between two
segments or sites continuously, even when the objects have been
moved. The endpoints for this ruler are attached to a segment and
can be offset to a particular point in space relative to that segment.
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Rulers are drawn as white and red lines between points. These
ruler ticks change color every 10 units by default, however, the
tick distance as well as the display units can be changed. The
current distance is always displayed at the center of this line.
Minimal Distance
(Command: UtilitiesMinimal Distance)
Use this dialog to determine the minimum distance between two
convex segments in the Graphics Window. The dialog displays the
scalar distance and the vector between the two closest nodes on
the segments. The computations are based on the Gilbert, Johnson
and Keerthi algorithm, which computes the vector (Distance Vector)
between the closest nodes of two segments and the module of this
vector.
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Logging
(Command: UtilitiesLogging)
Jack maintains a log of all operations it performs. This is useful for
generating macros by capturing interactive commands and creating
Tcl script files. Use this dialog to select a log file; start or stop the
log file; edit the current log file; and select what appears in the log
file. The default log file name is .jk_log.tcl and it is stored in the
users settings file directory (e.g. $HOME/jack_4.1).
Reach Zones
(Command: AnalysisReach Zones)
Advanced Reach Analysis
The Advanced Reach Zone tool is part of the standard Jack
functionality. It helps you generate zones that depict the areas of
maximum and comfortable reach for your figures. With this tool, you
can generate:
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Collision Detection
Click on the button Flash List
All the segments that are in the collision list will flash in the
GRAPHICS W INDOW . Also notice the collision list status section
shows you how many items are being checked for collision.
Click on the button Inspect List
This will bring up a COLLISION LIST DIALOG. On the left hand side is a
list of all segments in the collision list.
Click on one of the segments listed on the left hand side
The list on the right hand side of the COLLISION LIST DIALOG, lists all
the segments that are paired with the segment highlighted in the
left hand box.
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Exercise: Constraints
Load in the file smallcube.pss
OBJECT>CREATE>FIGURE FROM LIBRARY
from
Load
in
the
file
chain.fig
from
OBJECT>CREATE>FIGURE FROM LIBRARY
the
the
OBJECT
OBJECT
LIBRARY
LIBRARY
A constraint has now been created between the bow and the chain.
Move the box
Hit Begin Move in the Interactive Reach and manipulate the goal
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Note: The two constraints can work across the same joint
structure.
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Scalar Measure
Click on the Position Point 1 button and select a different location for the
end point
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Note: You can use all the tools you normally would use to
locate sites or objects relative to other objects to place the end
point of the ruler. The point you choose will determine which
segment the ruler end points move with.
Hit Create
Move one of the figures
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3D Motion
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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.
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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.
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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: ModulesAnimation SystemControlGenerate)
Jack uses key framing to create motions. The starting frame is
defined from the last position of the previous motion. When a new
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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 dont 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: ModulesAnimation SystemControlSet Frame 0)
The starting position for all objects in the environment is
automatically specified when the ANIMATION MODULE 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.
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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 constraints 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
time = start time + duration.
Group: Specifies which motion group to add the motion to.
Typically there is only one motion group (named "default"). The
motion group must already exist to be specified in this field. You
can create a motion group by right clicking (<RMB>) on the group
icon and selecting "New" from the menu.
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Figure Motions
(Command: ModulesAnimation SystemGeneralFigure)
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: ModulesAnimation SystemGeneralJoint)
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: ModulesAnimation SystemGeneralRelationalTimed Attach)
Time attachments let you control the movement of one figure by
attaching it to another.
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Timed Attach
Constraints
(Command: ModulesAnimation
SystemGeneralRelationalConstraints)
Constraints define a constraint for a set duration of time during a
portion of your animation.
Path Motions
(Command: ModulesAnimation SystemPathsFigure 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 objects translation and orientation.
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Human Motions
(Command: ModulesAnimation SystemHuman)
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:ModulesAnimationSystemHumanTimed 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: ModulesAnimation SystemSceneCamera)
Camera motions allow you to change view during an animation.
When you create this motion the camera doesnt move. It is already
at the goal position. By default the initial frame doesnt 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: ModulesAnimation SystemChannelsetsSave
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.
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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
Jacks animation system allows you to output a finished movie in
AVI or MPEG format, environment files (saves object positions) for
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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
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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
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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
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Realtime Playback
Hit Play
The animation plays back at half the time.
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Path Point #1
You will see the Path Dialogue open and the first path point has been
created at 0,0,0. Keep the first point at 0,0,0.
Hit Add After to add another point. This point has been created in the same
location as the last point. (See image below for a sample of locations for path
points).
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Move this second path point. Be sure to have all path points created on the
floor (Y=0).
Once you have the second path point where you want it, hit Add After again.
Another point has been created on top of (in the same location) as the last point.
Move this third path point to its desired location.
Keep adding points until you have a path that ends in front of the monitor
station. See image below.
Path Creation
Once you have completed the path, hit Create and then Apply. Finally,
Dismiss the Window.
Now that you have added a path to the scene, you need to reset frame zero.
Hit Set Frame 0.
In the Animation Window, select Human---Path Walk.
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Arm Motion
Once you have completed moving the hand, Hit Create, then Apply and
finally, Dismiss the window.
A new arm motion has been added to the timeline.
Hit Generate.
Create a head motion at the same time as the arm motion.
In the Animation Window select Human---Head
The head motion dialogue window will open.
Leave the weight and velocity set at constant.
Set the Start Time at 2 Seconds (the end of the path walk).
Set the Duration at .5 Seconds (the same as the arm motion).
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Head Motion
Select the human.
Hit Adjust.
The Human Control Dialogue will open.
Move the head to the center of the computer monitor. (Use the Snap To Face
Center feature)
Hit Create.
Dismiss the window.
Hit Generate.
The head and arm motion happen at the same time in the timeline.
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Interactive Reach
Create a Joint Motion to capture this move.
in the Animation Window choose General---Joint Motion
The joint motion dialogue window will appear.
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Plug-ins
(Command: ModulesPlug-ins)
The Add-on Module system is configured via the Plug-In manager
available on the Modules menu. The module system allows you to
add capabilities to Jack selectively as they fit your needs. The ADDON MODULES DIALOG box appears in the figure below. By moving
Modules to the Auto-Load list, they will automatically appear in the
Modules menu each time you start Jack.
Plug-in Dialog
This Dialog box allows you to see all of the currently available
modules as well as add any custom-developed modules to the
menus (using the Browse button).
Modules currently available for Jack include the following:
CPort
This is a tool for socket communication between Jack and other
applications. Jack receives Tcl strings and interprets them. Added
are a number of easy to use script functions to make scripting easy.
CableGenerator
This tool creates cables and cable like figures using joint chains.
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CameraTracking
This allows the camera to be synchronized with either a figure
bounding box center or a site. A constant offset is maintained
between them. It has both dolly mode which maintains a fixed
height, and boom mode, which follows the height of the entity.
Disembodied Hand Module
Often when conducting a clearance study, the focus of an analysis
can be purely on the hand. In these scenarios, posturing the entire
body to get the hand into place can represent unnecessary
overhead. In place of this, the Disembodied Hands Module can be
used to posture a hand only, offering feedback on clearance
requirements more efficiently.
For a full description of this module and a sample use case, click on
the Usage button at the bottom of the modules dialog.
ElevationTransition
The Elevation Transition module allows you to compute and
visualize a trajectory for climbing up and down stairs and ramps.
Using this module you can easily define the layout of your staircase
or ramp, and Jack will automatically compute the steps necessary
to ascend/descend. These footsteps, along with Jack or Jills
motions, can be visualized, edited, and exported to the animation
system for use in creating a simulation.
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GridGenerator
This is a tool for generating wireframe rectangular and hemispheric
grids. Users have been asking for the ability to move our grid and
for tools to help determine where objects are in the field of view.
Grid Generator
HumanMaterials
Often it is desirable to change the color schemes on human figures
either for visual or identification needs. The HumanMaterials
Module makes this easy by allowing you to select from various predefined figure material color combinations. These schemes can be
previewed and applied to the figure. You can apply these to your
human figure(s), choose to save them as your defaults, or use them
as the starting point for your own custom color
combinations.
Note: This module is designed to work with the v6.0 smooth skin
figures only.
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PrintToJack
This tool generates movable, scalable, modifiable, 3D text from a
text editor in the Jack scene.
PrincipleComponentManikins
This generates boundary manikins which samples of different
extreme anthropometric proportions for testing.
Sample
This is a well commented and documented module that shows how
to use Python and Tcl together to create add-on modules for Jack
Sweeps
This generates geometry for a list of segments for every location
that they were at during a motion. Continuous mode hulls out the
volume for a continuous surface.
SyncSwimming
This tool synchronizes joint angles between two human
figures. This is most useful in VR scenarios where someone
wearing sensors or markers would be able to manipulate a human
figure model of a different size and proportions.
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Sync Swimming
TATReporter
This outputs the results of the 3DSSP, LBA and Fatigue Analysis
for every frame of an animation. It allows for setting hand load
changes in the animation.
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APPENDIX
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Index Mode
VBO Mode
(OpenGL Vertex
Buffer Objects)
VCO Mode
(Vertex Cache
optimized
OpenGL Vertex
Buffer Objects)
Fastest Render
Performance
Standard
Performance
Random
Render
Performance
Faster to
Fastest Render
Performance
usage
3x memory
usage
standard
memory usage
1x to 2x
memory usage
1x to 2x
memory usage
DisplayList
Mode
Color:
This page of the System Defaults dialog defines colors used in the
Jack environment. Use this group box to select or modify the color
used for the selected object. Use the radio buttons (defined below)
to identify the object whose color you are changing. The group box
includes a color sample that interactively shows changes you
make. You can select from among the pre-defined colors or
materials in the scrollable list at the bottom of this group. You can
then use the Custom group to modify the color as desired.
Custom: This group box consists of slider bars for Red, Green, and
Blue. You can also specify numeric values for R, G, and B in the
text edit fields below the respective slider bar.
Background color: Determines the color of the Graphics Window
background.
Major grid color: Specifies the color of the major grid line divisions
for the ground plane.
Minor grid color: Specifies the color of the minor grid line divisions
in the Graphics Window for the ground plane.
Site color: Specifies the color of sites.
Node color: Specifies the color of nodes.
Inside wheel color: Specifies the color of interior segments of a
rotation wheel. This color indicates valid rotation within defined joint
limits.
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UI:
This page of the System Defaults dialog specifies options for the
user interface.
Ignore Library File Warnings: Select this check box to ignore
warning messages due to data read from the Library File.
Dialogs stay on top of main graphics window: Select this check box
to have all Jack dialogs remain on top even when you click on the
Graphics Window. If you unselect this option, you can bring dialogs
to the top by pressing <Alt+Tab>.
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Open option dialog when importing files: This check box is used to
indicate whether the import options dialog should be automatically
opened when importing a file.
Remember window layout between sessions: Select this check box
to save window placement and size information when exiting. This
information will be used to give the same layout the next time you
run Jack.
Help Browser: Use this radio buttons to select the browser to use to
display on-line help. The default is an internal browser. Other
options are Netscape and Internet Explorer (Windows only). The
Netscape and Internet Explorer options require that you already
have the selected browser be installed on your machine.
Maximum Number of Recent Files: Use this edit field to enter the
number of files you want to appear in the list of files most recently
opened. This list appears in the File menu above Exit.
Default Male Filename / Default Female Filename: These indicate
the files used when creating a default male or female figure. The
fields can be changed to override the Jack default figures.
Units:
This page of the System Defaults dialog defines the units of
measure used in the Jack environment. You make selections from
the drop-down list for the type of measure you want to modify. If
desired, enter an increment in the associated edit field.
Angle: Select either degrees or radians from the drop-down list.
Density: This drop-down list provides selections for metric and
English units in various scales.
Distance: This drop-down list provides selections for metric and
English units in various scales.
Force: Select either Newtons or lbs.
Mass: Select gram, kg, or lbs.
Torque: This drop-down list provides selections for metric and
English units in various scales.
Volume: This drop-down list provides selections for metric and
English units in various scales.
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Viewers:
This page of the System Defaults dialog defines parameters for the
Graphics Window viewer. Specifically from this page you can
control the display of performance information, default lighting, and
the sensitivity of the view control.
Show Frame Rate: Use this check box to turn off or on the display
of frame rate information in the upper right hand corner of the
Graphics Window
Show Frame Information: Use this check box to turn off or on the
display of a frame count in the lower left hand corner of the
Graphics Window
Camera Light: Use this check box to determine whether the default
light located on the camera is on or off
Horizontal View Control Gain: Use this edit field to define gain for a
horizontal change of view
Vertical View Control Gain: Use this edit field to define the gain for
a vertical change of view
Zoom View Control Gain: Use this edit field to define the gain for
zoom
Horizontal Slide View Gain: Use this edit field to define the gain for
horizontal slide change of view
Vertical Slide View Gain: Use this edit field to define the gain for a
vertical slide change of view
Horizontal Pan View Gain: Use this edit field to define the gain for a
horizontal pan view change
Vertical Pan View Gain: Use this edit field to define the gain for a
vertical pan view change
LOD (Level of Detail ) Quality: This can be used for JT data only.
Data must be loaded (not IMPORTED) AND requires the "level of
detail" nodes to be pre-defined. The higher the level of detail for a
part, the slower the rendering. Low LODs are useful for faster
rendering when detail is less important.
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Note: the .jt file must to be generated with the different levels of
detail per part as Jack cannot generate them on the fly.
The slider goes from 0.00 (in which the highest LOD will be
defined) to 1.0 (the lowest one). Unfortunately, this is opposite to
convention where a higher value would represent a higher LOD.
The point on the slider at which a different LOD takes effect is predefined in the .jt file construction. This is not exposed nor controlled
in Jack.
Screen Size Culling: Use this check box to indicate whether screen
size culling should be used to prevent the rendering of small
graphical objects during object or view manipulation.
Minimum Coverage: This edit field is active when screen size
culling is enabled. This indicates the minimum screen coverage
required for rendering; objects smaller than this will not be
rendered, often increasing the frame rate in complex environments.
Draw Final Frame Full: Use this check box to specify whether
screen size culling should be bypassed when redrawing after a
manipulation or view change. This allows screen size culling to
optimize the frame rate during manipulations without compromising
the appearance of the scene during static viewing.
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Edge orientation:
The object you are moving will snap to the orientation of the
selected edge. As with the snap to site orientation, Jack aligns the
coordinate axis that is closest in orientation to the edge with the
edge.
Face Position:
Same as Face plane except the position snapped to must be within
the selected face. If the closest point to the plane defined by the
edge is not within the face, the object moves to the closest point on
an edge.
Face Center:
The object you are moving will snap to the center point of the
selected face. The orientation of the object does not change.
Face plane:
The object will move to the closest point in the plane defined by the
face. The orientation of the object will not change.
Face orientation:
The object you are moving will align to the orientation of the face
normal.
Square orientation:
The orientation of the object is changed to align with the global
coordinate system.
Ground Plane:
The object is moved so its lowest node is at the ground plane (i.e.,
y = 0).
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Once you logon to the site using your webkey, click on Product
Downloads and scroll down to the Jack section.
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jack801-win64.bat / jack801-win32.bat:
Start up script. Includes information on directory paths and install
directory (this is located in the root of the Jack Installation).
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Glossary
Ambient: Determines the color of the surface when it is not
illuminated by a light source.
Balance Polygon: The display of the area considered to define
balance. The area is a line between the toes and heels, down the
foot center. If the composite center of mass of the human projects
within this area, the figure is in balance.
Channels: Channels are interpolated (in-between) frame data
created during animation. Each channel holds interpolated data for
an individual (or set) of parameters for each frame in an animation.
For example, each figure in the environment has a channel
associated with it. The figure channel holds the root site and global
transformation matrix for each frame in the animation. If the
animation is 60 frames long, each figure channel has 60 units. The
data in all channels at a particular time represents the frame data.
Check box: In a GUI, a square box next to a description of an
option that you can turn on and off. A check box contains a check
mark if the option is selected (turned on).
Collision Queue: Defines the list of objects in the scene which are
checked for collisions. You can add segment members to the
queue via the collision detection utility interface.
Constraint: A constraint is a desired geometric relationship. It also
refers to all information that collectively defines that relationship.
Jack solves constraints by the inverse kinematics algorithm, which
means that appropriate joints of articulated figures are positioned
so that desired relationships are satisfied. The constraint facility
uses an iterative optimization algorithm to compute a set of joint
angles that satisfy the constraint by placing the figure in a desired
posture. We sometimes use the term reach because it is easy to
visualize in terms of a reaching human arm. Jack allows you to
define multiple constraints of various types. Constraints are
geometric connections between objects, similar in some ways to
joints, although the two are intrinsically different in two important
ways. The first arises when a figure is over-constrained, meaning
that all of its constraint relationships cannot be completely satisfied.
The types of relationships modeled with joints, in human figure
models and robot models, can never be violated, even just a little.
Joints as we know them are not desired relationships: they are
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Ground plane: The ground plane is the XZ grid that appears in the
Graphics Window. The Y-axis points up, orthogonal to this plane.
Inverse kinematics: An iterative optimization algorithm used to
compute a set of joint angles that satisfy constraints by placing the
figure in a desired posture. Each iteration of the inverse kinematics
algorithm generates a new set of joint angles that describe a new
posture for the figure. Taken collectively, these positions appear to
be motion because the figure moves from its current posture to a
posture that satisfies geometric relationships defined by
constraints. However, this motion is not the same as animation. It is
simply the result of computations made to position the figure so that
it satisfies the constraint relationships.
Joint: The angles at the joints of a figure define its posture. Joints
connect sites on different segments within a figure. These joint
angles may be manipulated in Jack with Human>Adjust joint. For
convenience, this command is bound to <Ctrl-e>. Joints in Jack
may have specific degrees of freedom. A degree of freedom (DOF)
is a rotation around a specific axis. This rotation describes the
relative orientation of the two sites that the joint connects. Joints
may also be prismatic, in which case they translate along the axis.
The transformation between the sites that a joint connects is
formed by the product of the simple rotations and translations
associated with each degree of freedom in order. If a joint has no
degrees of freedom, it means that no axes of rotation or translation
have been defined. Such joints represent arbitrary transformations
between segments. When you adjust such a joint, you can
manipulate the transformation across the joint the same way as
with the move figure command.
Library file: One of the file types supported by Jack contained in a
directory in the search path for the library.
Node: A point on a segment defined by local X, Y, and Z
coordinates. (Also known as a "vertex".) Collectively, the nodes of a
segment define its geometric shape. Two nodes define an edge.
Nodes and edges define a psurf, and a psurf represents the
geometry of each segment.
Objective type: The objective type describes the type of geometric
relationship between the end effector and the goal, i.e. position,
orientation, direction, etc. This describes the distance or potential
energy between the end effector and the goal. The inverse
kinematics algorithm is based on the minimization of the value
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and only highlight objects in the Graphics Window that are of the
desired pick mode (i.e., figure, site, node, or joint).
Pick mode: The current Pick Mode is indicated in the Jack toolbar
by the special Pick Mode option menu. The items in the Pick Mode
option menu include "Fig" (figure), "Seg" (segment), "Site", "Jnt"
(joint), "Con" (constraint), "Hum" (human), a face icon, an edge
icon, a node icon, a viewer (eye) icon, and "Mat" (material). This
Pick Mode option menu will automatically switch temporarily to the
appropriate pick mode if you press a Pick button. For example, if
you press the Pick button on the Node Properties dialog, the Pick
Mode option menu will automatically switch to the node icon during
the pick, and will switch back to the previous pick mode when the
pick is complete.
The current Pick Mode also determines which type of pop-up menu
will appear in the Graphics window when the right mouse button is
pressed. Note that only the first four "primary" pick modes (Fig,
Seg, Site and Jnt) have their own pop-up menus... you should
never need to explicitly select any of the other types from the Pick
Mode option menu. A shortcut method exists for switching between
the four primary pick modes simply by clicking the middle mouse
button in the Graphics window.
Property Sheet: A user interface element that defines specific
properties of a figure, segment, site, or joint. The property sheet
provides a single interface for setting all characteristics for the
chosen entity.
Psurf (pss) file: Defines the geometry of a segment. This includes
the coordinates of all the nodes, and the grouping of nodes into
faces.
Radio button: In a GUI, a circular button that selects an option
from a list of mutually exclusive items. The selected option contains
a black dot. You click on an option button to select a different
option.
Rename: You can rename objects by using the Rename button
(designated by a "R" on the small button) located by an object
name field. For example, to rename a figure, bring up the figure
properties sheet for the figure. Select the Rename button, type in
the desired new name (followed by a carraige return), then hit
Apply.
Root Site: The root site is the "ground" location of a kinematic
chain. It is the beginning site for the kinematics definition, and acts
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as the "handle" for a figure. For example, the root site of a seated
human is the "lower_torso.proximal" site. That means that all
kinematics are calculated outward from that site and that when you
move the figure your location reference is that site.
Rooting constraint: A rooting constraint controls the location of a
figure. This allows a figure to be connected to another figure.
Rooting constraints are just like other constraints except that no
joints are affected by the constraint. The constraint variable is the
figure location. Moving a figure with a rooting constraint creates a
temporary constraint between the figure's root and the transform
created by the moving process. The position the figure assumes is
a weighted average of the two constraints as determined by the
inverse kinematics algorithm.
Rotation wheel: A graphical representation of the plane of rotation
about a joint in the Graphics Window. The rotation wheel has
colored segments that show in green the amount of rotation
permitted by joint limits and constraints. A set of local coordinate
reference axes appear to show the orientation of the joint as you
use the mouse to drag the moving segment to a new position. The
axes will follow the mouse even through non-valid rotations, but the
moving segment won't travel beyond its specified limits.
Ruler: A ruler may be visible or invisible. You can have the ruler
show fixed increments in different colors, and you can optionally
display the distance between the two sites in the Graphics Window.
Scene: A scene or environment consists of a collection of figures.
Segment: Figures are composed of one or more segments. If there
is more than one segment in a figure, the segments are connected
by joints which define the structure of a figure. The location of
segments and joints are identified by sites. Each segment has a
geometry associated with it that is represented by nodes and faces.
Set of joints: The set of joints define which joints apply to the
constraint. These joints are the variables of the constraint. The
goal, end effector, and objective type collectively describe a desired
geometric relationship, but the set of joints associated with the
constraint define which part of the geometric environment is
allowed to ``move'' to satisfy the relationship. Internally, the joints
are the variables to the inverse kinematics. There are two reasons
for explicitly defining this set of joints. The first is efficiency: it is
best to limit the number of variables which the inverse kinematics
algorithm controls. The second and more important reason is
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Index
/t See Joint Motors, 144
Animation, xii, 130, 131, 158, 160, 161,
162, 163, 164, 166, 168, 169, 171,
172, 197, 212, 213, 216
Camera Motions, 166
Human Motions, 166
Path Motion, 165
Timed Attachments, 164
Timed Behaviors, 166
Anthropometry, 40
Attachments, 9, 145, 164, 171
Human, xi
Balance, xi
Behaviors, xii, 1, 66, 108, 166, 201
Camera, 9, 10, 23, 53, 54, 55, 56, 166,
193, 204, 214, 217
Camera \t Also See View Control, 9,
10, 11, 23, 53, 54, 55, 56, 166, 193,
204, 214, 217
Center of Mass, 212
Change View, 10, 166
Classic Jack, xii, xiii
Collision Detection, xi, 26, 212
Color /t See Material Properties, 22,
41, 42, 43, 110, 147, 200, 201, 212,
213, 220
Constraints, xi, 20, 21, 23, 66, 69, 77,
140, 144, 149, 170, 201, 202, 212,
213, 216, 219
Context Sensitive Menus, 11, 59, 86,
122
Control Bar, 1, 2
Edges, 26, 33, 52, 107, 108, 129, 214,
216
Environment, 21, 26
Export, 29, 30, 31, 168, 169
CAD, 24, 25, 29, 42, 104, 106, 107
Images, 31, 32, 33, 56, 110, 169, 170
Movies, 168
Eyes, 55, 87
Faces, 26, 43, 102, 107, 108, 126, 128,
129, 214, 215, 218, 219, 220
Field of View, 54, 55
Figure, 22
Flat Shading, 109
Force, 45
Ghost, 110
Graphics Window, 1, 33, 44, 129, 202,
215, 218
Grasp, xi
Head, xi, 55, 86, 149
Hot Keys /t See Key Bindings, 44
Human
Anthropometry, 68, 69
Behaviors, xii, 1, 66, 108, 166, 201
Force, 203
Head, 73
Manipulation, 1, 3, 7, 33, 130, 144,
164, 205
Shoulder, 73
Torque, 203
View Cones, 87
Icon Toolbar, 2, 3, 60
IGES, 24, 25, 29, 31
Import, 20, 24, 203
Joint Motors, 144
Joint Properties, 125
Joints, xi, xii, 11, 12, 20, 22, 23, 26, 59,
66, 77, 78, 140, 144, 149, 164, 170,
212, 215, 216, 219, 220
JT, 25, 26, 27
Key Binding, 44
Left Mouse Button, 5, 217
Lighting, 41, 103, 204, 214
Lisp, xii
Manikins, 72, 73, 74, 196
Manipulation, 1, 3, 7, 33, 130, 144, 164,
205
Material Properties, 22, 41
Menus, xii, 1, 2, 4, 11, 12, 13, 43, 159,
217, 218
Message Area, 2, 4
Middle Mouse Button, 5, 218
Modules, 2, 192, 196
Move Controller, 2, 4, 5, 7, 164
Movie Export
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