Vision sensor for non-OpenHRP objects?

[Naoya Arakawa]

Hello,

Can anyone tell how to fix a vision sensor to a non-OpenHRP object?

While examples in the tutorials fix a (virtual) camera to an OpenHRP

segment or link, there is no segment in non-OpenHRP objects.

I'd like to give vision to an object that controls its attitude.

Meanwhile, it turned out that the getRotation function did not work

for OpenHRP objects.

Best,

-- 

Naoya A.

[Naoya Arakawa]

Again, I received an answer from the developer.

Basically, you can place a code such as

    <camera id="1"  

            aspectRatio="1.77"

            direction="0 -0.7 1"  

            position="0.0 0.0 0.0"/>  

in the <instanciate> element within the world file

to give a camera to the object.

Attached are sample files from Yoshinobu Hagiwara

@ NII (Thanks!).