Jack 5 User's Guide

University of Pennsylvania ScholarlyCommons Technical Reports (CIS) Department of Computer & Information Science October 1991 Jack 5 User's Guide Cary B. Phillips University of Pennsylvania Follow this and additional works at: https://repository.upenn.edu/cis_reports Recommended Citation Cary B. Phillips, "Jack 5 User's Guide", . October 1991. University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-91-78. This paper is posted at ScholarlyCommons. https://repository.upenn.edu/cis_reports/479 For more information, please contact [email protected]. Jack 5 User's Guide Abstract This chapter is a brief tutorial introduction to using Jack. It demonstrates some of the basic Jack features, illustrating mostly the flavor of how you interact with Jack rather than describing the details of how to use it. The first time ouy run Jack, you should go through the examples in this chapter. From then on, refer to the later chapters for more details about the various features. Comments University of Pennsylvania Department of Computer and Information Science Technical Report No. MS- CIS-91-78. This technical report is available at ScholarlyCommons: https://repository.upenn.edu/cis_reports/479 Jack 5 User's Guide MS-CIS-91-78 GRAPHICS LAB 43 Cary B. Phillips Department of Computer and Information Science School of Engineering and Applied Science University of Pennsylvania Philadelphia, PA 19104-6389 October 1991 Jack @ User's Guide Version 5.8 January 11, 1994 Computer Graphics Research Laboratory Department of Computer and Information Sciences University of Pennsylvania Philadelphia, Pennsylvania Copyright @ 1988, 1992, 1993, 1994 University of Pennsylvania Jack @ is a registered trademark of the University of Pennsylvania. This manual was originally written by Cary B. Phillips in 1991. Additions since the were made by John P. Granieri. Other students and staff of the Computer Graphics Research Laboratory made contributions. Where applicable, their names appear in this document. The Utah Raster Toolkit man pages have their respective authors listed on each man page. The research and development effort for this software is or has been partially supported by the following groups and grants during 1993: ARO Grant DAAL03-89-C-0031 including participation by the U.S. Army Research Laboratory (Aberdeen), Natick Laboratory, the Army Research Institute, and NASA Ames Re- search Center; U.S. Air Force DEPTH contract through Hughes Missile Systems F33615-91-C-0001; ARPA through General Electric Government Electronic Systems Division; Naval Training Systems Center N61339- 93-M-0843; Sandia Labs AG-6076; DMSO through the University of Iowa; NASA KSC NAG10-0122; MOCO, Inc.; Robotics Research Harvesting, Inc.; National Defense Science and Engineering Graduate Fellowship in Computer Science DAAL03-92-G-0342; NSF Grant IRI91-17110, CISE Grant CDA88-22719, and Instrumen- tation and Laboratory Improvement Program Grant #USE-9152503. This software uses the Utah Raster Toolkit, Copyright @ 1982, 1986, Spencer W. Thomas, et. al, Computer Science Dept., University of Utah. The source code for the Utah Raster Toolkit is available free of charge from the University of Utah. This software uses the XLISP interpreter. XLISP-STAT 2.1 Copyright @ 1990, by Luke Tierney XLISP version 2.1, @ 1989, by David Betz. Please see Section F for the full copyright notice. Contents 1 An Introduction to Jack 15 1.1 WhatisJack? ............................................. 15 1.1.1 Jack Version 5.8 ....................................... 15 1.1.2 New Features of Jack Version 5.8 from Version 5.5 .................... 15 1.1.3 Jack Version 5.x (up to Version 5.5) ............................ 17 1.1.4 New Features of Jack Version 5.x from Version 4.x .................... 18 1.2 How to Use This Manual ...................................... 19 1.3 Technical Support ........................................... 19 1.4 DemoJack ............................................... 19 1.5 Preliminaries ............................................. 19 1.5.1 Jack and the Window Manager ............................... 19 1.5.2 Using the Mouse ....................................... 20 1.6 Running Jack ............................................. 20 1.7 Reading in an Object ........................................ 22 1.8 Creating a Human Figure ...................................... 23 1.9 Changing the View .......................................... 25 1.10 Moving a Figure ........................................... 26 1.11 Writing the Environment to a File ................................. 28 1.12 Getting Help ............................................. 29 1.13 Browsing through Jack Commands ................................. 30 1.14 Exiting Jack .............................................. 30 2 Using the Keyboard 31 2.1 The Edit Buffer ............................................ 31 2.1.1 Default Values ........................................ 32 2.2 Automatic Completion ........................................ 32 2.3 Using the Mouse as an ENTER key .................................. 32 2.4 Entering Commands from the Keyboard .............................. 33 2.5 Entering Files from Pop-up Menus ................................. 36 3 Peabody Objects 37 3.1 Peabody Terminology and Concepts ................................ 37 3.1.1 Peabody Names ....................................... 37 3.2 Picking Objects with the Mouse ................................... 38 3.3 Picking Overlapping Objects .................................... 39 3.4 Picking Sites and Joints ....................................... 40 3.5 Picking Objects by Name ...................................... 41 3.5.1 Picking Objects through Pop-up Menus .......................... 41 3.6 Picking the Previous Thing ..................................... 41 2 CONTENTS 4 Changing the View 4.1 Changing the View Reference Point ................................. 4.2 Snapping the View .......................................... 4.3 The Field of View .......................................... 4.3.1 A Warning About the Field of View ............................ 4.4 Attaching the View to Objects ................................... 4.5 Adjusting the Clipping Planes .................................... 4.5.1 User Defined Clipping Planes ................................ 4.6 View Stack .............................................. 5 Moving Figures 5.1 The Movement Operator ....................................... 5.2 Translation .............................................. 5.3 Rotation ................................................ 5.4 Terminating the Movement ..................................... 5.5 Changing the Reference of Movement ............................... 5.6 Repositioning the View ....................................... 5.7 Hints .................................................. 5.8 Entering Transformations from the Keyboard ........................... 5.8.1 Multiplying Homogeneous Transformations ........................ 5.9 Rotating with the Arrow Keys ................................... 5.10 Snapping to Objects ......................................... 5.11 Adjusting Joints ........................................... 5.11.1 The Human Shoulder .................................... 5.11.2 Manipulating Joints Interactively .............................. 5.11.3 Joints with No Degrees of Freedom ............................. 5.12 The Directionality of Joints ..................................... 5.13 Entering Joint Angles From the Keyboard ............................. 6 Manipulating Human Figures 6.1 Introduction .............................................. 6.1.1 Moving I-Iuman Figures ................................... 6.2 Bending the Torso .......................................... 6.2.1 Moving the Torso More Generally ............................. 6.2.2 Torso Behavior ........................................ 6.3 Rotating the Pelvis .......................................... 6.4 Moving the Center of Mass ..................................... 6.4.1 Controlling the Balance ................................... 6.4.2 Seated Figures ........................................ 6.4.3 The Figure Support ..................................... 6.5 Moving the Feet ........................................... 6.5.1 The move foot Command .................................. 6.5.2 Stepping Behaviors ...................................... 6.5.3 Controlling the Feet ..................................... 6.6 Moving the Arms ........................................... 6.6.1 The New Shoulder ...................................... 6.6.2 The move arm Command .................................. 6.6.3 Controlling the Hands .................................... 6.6.4 Attaching Objects to the Hands .............................. 6.6.5 Reaching with Attached Objects .............................. 6.6.6 Reaching in General ..................................... 6.6.7 Articulated Hands with Fingers ............................... 6.7 Moving the Head and Eyes ..................................... 6.7.1 Fixating the Head ...................................... CONTENTS 3 6.8 Postures ................................................ 87 Specifying and Analyzing Human Figures 89 7.1 Specifying Anthropometry ...................................... 89 7.1.1 Foot Dimensions ....................................... 89 7.1.2 Leg Dimensions ........................................ 89 -r . 1.3 Pelvic Dimensions .....................................

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