A dynamic controller toolkit

We introduce a toolkit for creating dynamic controllers for articulated characters under physical simulation. Our toolkit allows users to create dynamic controllers for interactive or offline use through a combination of both visual and scripting tools. Users can design controllers by specifying keyframe poses, using a high-level scripting language, or by manipulating the rules of physics through a group of helper functions that can temporarily modify the environment in order to make the desired animation more feasible under physical simulation. The goal of the toolkit is to integrate dynamic control methods into a usable interactive system for noncomputer scientists and non-roboticists, and provide the means to quickly generate physically based motion.

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