사람 추가 (Actor)

Gazebo Tutorial, SDF Element, Sample Code

정의

• an animated model is called an actor.
• Actors extend common models, adding animation capabilities.

종류

• Skeleton animation: which is relative motion between links in one model:

• Motion along a trajectory: which carries all of the actor's links around the world, as one group

• 두 종류를 합쳐서 동시에 적용 가능

기존 Model과 차이점

Gazebo's actors are just like models, so you can put links and joints inside them as usual.

The main differences are:

• Actors are always static (i.e. no forces are applied on them, be it from gravity or contact or anything else)
• Actors support skeleton animation imported from COLLADA and BVH files.
• Actors can have trajectories scripted directly in SDF.
• There can't be models nested inside actors, so we're limited to animated meshes, links and joints.