Animation creation system, animation creation method, and program

Abstract

To allow for easily creating an animation of natural movement of a person who uses a tool to take an action on an object.SOLUTION: An animation creation system comprises: a position information acquisition unit which acquires position information of a prescribed tool at the time of taking a prescribed action on an object with the prescribed tool; a blend processing unit which calculates position information of a hand of a person based on the position information of the prescribed tool or attitude information of a trunk of the person on the basis of the position information of the prescribed tool and, on the basis of the attitude information of the trunk, uses blend processing to create an animation of the trunk; and an inverse kinematics calculation processing unit which, on the basis of the position information of the hand and the attitude information of the trunk which are calculated by the blend processing unit, uses the inverse kinematics calculation processing to calculate attitude information of an arm so as to connect the trunk and the hand of the person by the arm and creates an animation of the arm on the basis of the calculated attitude information of the arm.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to an animation generation system, an animation generation method, and a program for generating animations of people performing actions. [Background technology]

[0002] 2. Description of the Related Art An animation generation system that generates animations of people performing actions is known (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2005-182842 A Summary of the Invention [Problem to be solved by the invention]

[0004] For example, a person may use a tool to perform a specific operation, such as a processing operation, on a surrounding object. When generating an animation of such a person, the blending conditions are adjusted to adjust the relative positional relationship between the person and the tool, but this adjustment can be time-consuming.

[0005] In response to this, the animation generation system uses inverse kinematics calculation processing to make the human motion follow the tool motion, thereby reducing the effort required to adjust the blending conditions. However, by making the human motion follow the tool motion, the human motion may be pulled by the tool, which may disrupt the natural posture of the human and make the motion unnatural.

[0006] The present disclosure has been made to solve such problems, and has as its main objective the provision of an animation generation system, an animation generation method, and a program that can easily generate animations of natural movements of a person when using a tool to perform an action on an object. [Means for solving the problem]

[0007] In order to achieve the above object, one aspect of the present disclosure is to 1. An animation generation system for generating an animation of a person performing a predetermined action on an object around the person using a predetermined tool, comprising: a position information acquisition unit that acquires position information of the predetermined tool when the predetermined tool performs the predetermined action on the object; a blending processing unit that calculates posture information of a trunk of the person based on position information of a hand of the person which is based on position information of a predetermined tool acquired by the position information acquisition unit, or based on the position information of the predetermined tool, and generates an animation of the trunk by using a blending process based on the calculated posture information of the trunk; an inverse kinematics calculation processing unit that calculates posture information of the arms using inverse kinematics calculation processing based on the position information of the hands calculated by the blend processing unit and the posture information of the trunk so as to connect the trunk and the hands of the person via the arms, and generates an animation of the arms based on the calculated posture information of the arms; The animation generation system includes: In order to achieve the above object, one aspect of the present disclosure is to 1. An animation generation method for generating an animation of a person performing a predetermined action on an object around the person using a predetermined tool, comprising: acquiring position information of the predetermined tool when the predetermined tool performs the predetermined action on the object; calculating posture information of a trunk of the person based on position information of a hand of the person based on the acquired position information of the predetermined tool or based on the position information of the predetermined tool, and generating an animation of the trunk using a blending process based on the calculated posture information of the trunk; calculating posture information of the arms using inverse kinematics processing based on the calculated position information of the hands and posture information of the trunk so as to connect the trunk and the hands of the person via the arms, and generating an animation of the arms based on the calculated posture information of the arms; The animation generating method includes: In order to achieve the above object, one aspect of the present disclosure is to A program for generating an animation of a person performing a predetermined action on an object around the person using a predetermined tool, A process of acquiring position information of the predetermined tool when the predetermined tool performs the predetermined action on the object; calculating posture information of a trunk of the person based on position information of a hand of the person based on the acquired position information of the predetermined tool or based on the position information of the predetermined tool, and generating an animation of the trunk using a blending process based on the calculated posture information of the trunk; a process of calculating posture information of the arms using an inverse kinematics calculation process based on the calculated position information of the hands and posture information of the trunk so as to connect the trunk and the hands of the person via the arms, and generating an animation of the arms based on the calculated posture information of the arms; It is a program that causes a computer to execute the above. Effect of the Invention

[0008] According to the present disclosure, the main objective is to provide an animation generation system, an animation generation method, and a program that can easily generate animation of a person's natural movements when using a tool to perform an action on an object. [Brief description of the drawings]

[0009] [Figure 1] 1 is a block diagram showing a schematic system configuration of an animation generation system according to an embodiment of the present invention. [Diagram 2] 13A and 13B are diagrams illustrating an example of blending parameters and posture parameters of a trunk portion. [Diagram 3] FIG. 13 illustrates a method for generating animation of the upper and lower torso. [Figure 4] FIG. 13 is a diagram showing another example of the blending parameters and the posture parameters of the trunk. [Diagram 5] FIG. 13 illustrates a method for generating animation of the upper and lower torso. [Figure 6] FIG. 13 is a diagram showing another example of the blending parameters and the posture parameters of the trunk. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, the present embodiment will be described with reference to the drawings. FIG. 1 is a block diagram showing a schematic system configuration of an animation generation system according to the present embodiment. The animation generation system 1 according to the present embodiment generates an animation of a person when the person uses a predetermined tool to perform a predetermined operation such as a processing operation on a target object around the person in a three-dimensional space, for example. The predetermined tool is, for example, a hammer, a drill, an electric tool, a dustcloth, a bat, etc.

[0011] Incidentally, when generating animation of a person performing the above-mentioned movements, blending conditions are adjusted to adjust the relative positional relationship between the person and the tool, but this adjustment can be time-consuming. In contrast, a conventional animation generation system can reduce the time and effort required for adjusting the blending conditions by making the person's movements follow the tool's movements using inverse kinematics calculation processing. However, since the person's movements follow the tool's movements, the person may be pulled by the tool, which may disrupt the person's natural posture and make the movements unnatural.

[0012] In contrast, the animation generation system 1 according to this embodiment performs inverse kinematics only on the arms (forearms and lower arms) of a person, and performs blending according to blending parameters (described later) on the other parts of the body. This makes it possible to generate animation of natural human movements while minimizing the effort required to adjust blending conditions for adjusting the relative positional relationship between the person and the tool. In addition, in the blending process, position information of the hand holding a specific tool or position information of the specific tool is used as a blending parameter, and the value of the posture parameter indicating the posture of the trunk is determined according to the value of the blending parameter. This makes it possible to link the posture of the trunk to the movement of the tool while maintaining the natural posture of the trunk through simple processing, thereby realizing more natural human movements.

[0013] The animation generation system 1 according to this embodiment includes a position information acquisition unit 2 that acquires position information of a specific tool, a blending processing unit 3 that generates an animation of a person's torso using blending processing, and an inverse kinematics calculation processing unit 4 that generates an animation of a person's arm using inverse kinematics calculation processing.

[0014] The animation generation system 1 has the hardware configuration of a typical computer, including, for example, a processor such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit), internal memory such as a RAM (Random Access Memory) and a ROM (Read Only Memory), storage devices such as an HDD (Hard Disk Drive) and an SDD (Solid State Drive), an input / output I / F for connecting peripheral devices such as a display, and a communication I / F for communicating with devices outside the device.

[0015] The position information acquisition unit 2 acquires position information (such as three-dimensional position coordinates and a trajectory) of a predetermined tool when the predetermined tool performs a predetermined action on an object. The position information of the predetermined tool may be input to the position information acquisition unit 2 using, for example, an input device. The position information of the predetermined tool may be set, for example, based on the position of a processing target (target processing position). The predetermined tool may perform, for example, a swinging motion such as a motion of swinging a hammer or a broom, or a translational motion such as a motion of pushing a drill, based on a reference point.

[0016] The blending processing unit 3 calculates position information of the hand of the person holding the predetermined tool, based on the position information of the predetermined tool acquired by the position information acquiring unit 2. For example, the relative positional relationship between the person's hand and the predetermined tool held by the hand may be set in advance in the blending processing unit 3. The blending processing unit 3 may calculate the position information of the hand of the person holding the predetermined tool, based on the position information of the predetermined tool acquired by the position information acquiring unit 2 and the set relative positional relationship.

[0017] The blending processing unit 3 can generate animation of the predetermined tool and the hands by using a blending process based on the position information of the predetermined tool acquired by the position information acquisition unit 2 and the calculated position information of the person's hands. Furthermore, the blending processing unit 3 generates animation of the trunk by using a blending process. First, the blending processing unit 3 calculates posture information of the person's trunk based on the calculated position information of the hands.

[0018] In this blending process, for example, as described above, position information of the person's hands is used as a blending parameter, and the value of the posture parameter indicating the posture of the trunk is determined according to the value of the blending parameter. In this way, with a simple process that simplifies the human posture, it is possible to link the posture of the trunk to the movement of the tool while maintaining a natural posture of the trunk, thereby realizing more natural human movements.

[0019] Fig. 2 is a diagram showing an example of the blending parameters and the posture parameters of the trunk. For example, when the predetermined tool is a drill and the person pushes the predetermined tool toward the processing target, as shown in the upper part of Fig. 2, the relative distance in the height direction between the midpoint S of the wrist centers of both hands of the person and the midpoint of the ground contact points of the flat parts of both feet may be set as the blending parameter Z. In addition, the forward bending and backward bending angles of the upper body of the trunk may be set as the posture parameter α, and the standing and crouching amount of the lower body of the trunk may be set as the posture parameter β.

[0020] The relationship between the blending parameter Z and the posture parameters α and β of the trunk may be set in advance as table information as shown in the lower part of FIG. 2 so that the values ​​of the posture parameters α and β of the trunk are determined according to the value of the blending parameter Z. The relationship between the blending parameter Z and the posture parameters α and β of the trunk may be set as a predetermined function. Furthermore, the input value may be the blending parameter Z, and the output values ​​may be the posture parameters α and β, and a machine learning device such as a neural network may be made to learn the relationship between the blending parameter Z and the posture parameters α and β. For example, the blending processing unit 3 calculates the values ​​of the posture parameters α and β, which are posture information of the human trunk, based on the value of the blending parameter Z, which is position information of the hand, and table information, a predetermined function, or a machine learning device.

[0021] Next, the blending processing unit 3 generates an animation of the upper body of the trunk using a blending process based on the calculated value of the posture parameter α, which is posture information of the trunk, as described below. Similarly, the blending processing unit 3 generates an animation of the lower body of the trunk using a blending process based on the calculated value of the posture parameter β, which is posture information of the trunk, as described below. The blending processing unit 3 generates an animation of the trunk by connecting the generated animations of the upper and lower bodies.

[0022] Here, a specific example of a method for generating animation of the upper body of the trunk will be described. Fig. 3 is a diagram showing a method for generating animation of the upper and lower bodies of the trunk. For example, as shown in the upper part of Fig. 3, the blending processing unit 3 generates animation of the upper body of the trunk by using blending processing based on the forward bending and backward bending angles, which are posture parameters α of the upper body of the trunk.

[0023] An animation (a) of the upper body of the trunk at the maximum forward bending angle and an animation (b) of the upper body of the trunk at the maximum backward bending angle are set as base animations in the blending processing unit 3. The blending processing unit 3 generates an animation (c) of the upper body of the trunk so that the posture has an intermediate ratio between the above (a) and (b) according to the forward bending and backward bending angle α of the upper body of the trunk.

[0024] Next, a specific example of a method for generating animation of the lower body of the trunk will be described. For example, as shown in the lower part of Fig. 3, the blending processing unit 3 generates animation of the lower body of the trunk by using blending processing based on the standing and crouching amounts, which are posture parameters β of the lower body of the trunk.

[0025] An animation (d) of the lower body of the trunk at the maximum standing amount and an animation (e) of the lower body of the trunk at the maximum crouching amount are set as base animations in the blending processing unit 3. The blending processing unit 3 generates animation (f) of the lower body of the trunk so that the posture has an intermediate ratio between the above (d) and (e) according to the standing and crouching amount β of the lower body of the trunk.

[0026] The above-mentioned blending parameters and trunk posture parameters are merely examples, and are not limited thereto. FIG. 4 is a diagram showing another example of blending parameters and trunk posture parameters. For example, when the predetermined tool is a bat or an axe, and a person performs a motion of swinging the predetermined tool toward a motion target point, as shown in FIG. 4, the horizontal relative distance between a contact point P of the predetermined tool when the predetermined tool contacts the motion target point (such as a processing point) T and the motion target point T may be set as the blending parameter L. In addition, the twist amount of the upper body of the trunk may be set as the posture parameter γ, and the offset amount of the center of gravity in the front-rear direction of the lower body of the trunk (the direction in which the trunk approaches or moves away from the motion target point T) may be set as the posture parameter δ.

[0027] The relationship between the blending parameter L and the trunk posture parameters γ, δ may be preset as table information, a predetermined function, or a machine learning machine so that the values ​​of the trunk posture parameters γ, δ are determined according to the value of the blending parameter L.

[0028] The value of the blending parameter L, which is the positional information of the specified tool, may be a value input to the positional information acquisition unit 2, or may be a value calculated based on the positional information of the specified tool acquired by the positional information acquisition unit 2, or may even be calculated based on the positional information of a person's hand.

[0029] The blending processing unit 3 calculates the values ​​of posture parameters γ and δ, which are posture information of the person's trunk, based on the value of the blending parameter L, which is position information of a predetermined tool, and, for example, the following predetermined function. Note that L0 is a reference distance between the person's trunk and the motion target point T, and may be set in advance in the blending processing unit 3. γ = 2 × A tan(L) δ = (1 / 10) × (L / L0)

[0030] The blending processing unit 3 may calculate the values ​​of posture parameters γ and δ, which are posture information of the human trunk, based on the value of the blending parameter L, which is position information of a specified tool, and table information or a machine learning machine.

[0031] The blending processing unit 3 uses blending processing to generate animation of the upper body of the trunk as described below, based on the value of the posture parameter γ, which is posture information of the trunk calculated as described above. Fig. 5 is a diagram showing a method of generating animation of the upper and lower bodies of the trunk. For example, as shown in the upper part of Fig. 5, the blending processing unit 3 uses blending processing to generate animation of the upper body of the trunk, based on the amount of twisting of the upper body, which is the posture parameter γ of the upper body of the trunk.

[0032] An animation (g) of the upper body of the trunk at the maximum right twist amount and an animation (h) of the upper body of the trunk at the maximum left twist amount are set as base animations in the blending processing unit 3. The blending processing unit 3 generates an animation (i) of the upper body of the trunk so that the posture has an intermediate ratio between the above (g) and (h) according to the twist amount γ of the upper body of the trunk.

[0033] Similarly, as shown in the lower part of Fig. 5, for example, the blending processing unit 3 generates animation of the lower body of the trunk by blending processing based on the offset amount of the center of gravity in the front-rear direction of the trunk, which is the posture parameter δ of the lower body of the trunk. In the blending processing unit 3, animation (j) when the lower body of the trunk is tilted backward at the maximum (when the offset amount of the center of gravity is maximum backward) and animation (k) when the lower body of the trunk is tilted forward at the maximum (when the offset amount of the center of gravity is maximum forward) are set as base animations. In accordance with the offset amount δ of the center of gravity in the front-rear direction, the blending processing unit 3 generates animation (l) of the lower body of the trunk so that the posture has an intermediate ratio between the above (j) and (k).

[0034] Furthermore, Fig. 6 is a diagram showing another example of the blending parameters and the posture parameters of the trunk. For example, when the predetermined tool is a dusting rag and the person moves the predetermined tool on a wide plane in the up, down, left and right directions while the foothold is fixed, the horizontal position and the height position of the contact point R of the predetermined tool may be the blending parameters X and Z, respectively, as shown in the upper part of Fig. 6. Also, the amount of cartwheel of the upper body of the trunk may be the posture parameter ε, and the amount of standing and crouching of the lower body of the trunk may be the posture parameter β.

[0035] The relationship between the blending parameters X, Z and the trunk posture parameters ε, β may be preset as table information, a predetermined function, or a machine learning machine so that the values ​​of the trunk posture parameters ε, β are determined according to the values ​​of the blending parameters X, Z.

[0036] The values ​​of the blending parameters X and Z, which are the positional information of the specified tool, may be values ​​input to the positional information acquisition unit 2, or may be values ​​calculated based on the positional information of the specified tool acquired by the positional information acquisition unit 2, or may be values ​​calculated based on the positional information of a person's hand.

[0037] The blending processing unit 3 calculates the values ​​of posture parameters ε and β, which are posture information of the human trunk, based on the values ​​of blending parameters X and Z, which are position information of a predetermined tool, and, for example, the following predetermined function: In the following predetermined function, k, m, and n are coefficients previously set in the blending processing unit 3 or the like. ε=k×X β=m×Zn×X

[0038] The blending processing unit 3 may calculate values ​​of posture parameters ε and β, which are posture information of the human trunk, based on values ​​of blending parameters X and Z, which are position information of a predetermined tool, and table information or a machine learning machine.

[0039] The blending processing unit 3 uses blending processing to generate animation of the upper body of the trunk as described below, based on the value of the posture parameter ε, which is posture information of the trunk calculated as described above. For example, as shown in the lower part of Fig. 6, the blending processing unit 3 uses blending processing to generate animation of the upper body of the trunk, based on the amount of cartwheel of the upper body, which is the posture parameter ε of the upper body of the trunk.

[0040] An animation (m) of the upper body of the trunk at the maximum rightward rotation and an animation (n) of the upper body of the trunk at the maximum leftward rotation are set as base animations in the blending processing unit 3. The blending processing unit 3 generates an animation (o) of the upper body of the trunk so that the posture has an intermediate ratio between the above (m) and (n) according to the amount of cartwheel ε of the upper body of the trunk.

[0041] Similarly, for example, as shown in the lower part of Figure 3, the blending processing unit 3 generates an animation of the lower body of the trunk using blending processing based on the standing and crouching amount β of the trunk, which is the posture parameter β of the lower body of the trunk.

[0042] An animation (d) of the lower body of the trunk at the maximum standing amount and an animation (e) of the lower body of the trunk at the maximum crouching amount are set as base animations in the blending processing unit 3. The blending processing unit 3 generates animation (f) of the lower body of the trunk so that the posture has an intermediate ratio between the above (d) and (e) according to the standing and crouching amount β of the lower body of the trunk.

[0043] As described above, the relationship between the blending parameters and the posture parameters of the trunk varies depending on the predetermined tool used by the person. Therefore, the table information, function, or machine learning machine indicating the relationship between the blending parameters and the posture parameters of the trunk may be changed depending on the predetermined tool used by the person. For example, the blending processing unit 3 may have table information, functions, or machine learning machines set in association with each predetermined tool. The blending processing unit 3 may calculate the value of the posture parameter based on the value of the blending parameter and the table information, function, or machine learning machine corresponding to the predetermined tool used by the person. This makes it possible to calculate the natural posture of the trunk through simple processing by switching the table information, function, or machine learning machine depending on various predetermined tools.

[0044] The inverse kinematics calculation processor 4 calculates posture information of the arms using inverse kinematics calculation processing based on the hand position information and trunk posture information calculated by the blend processor 3, so as to connect the shoulders and hands of the human trunk with the arms. This inverse kinematics calculation processing may be, for example, inverse kinematic calculation processing based on a Jacobian matrix and a Singularity-Robust Inverse (SR-Inverse) inverse matrix. By performing this calculation processing, it is possible to generate animation of the arms with higher accuracy.

[0045] The inverse kinematics calculation processor 4 generates animation of the arm based on the posture information of the arm calculated as described above.

[0046] Next, an example of an animation generating method according to the present embodiment will be described. The position information acquiring unit 2 acquires position information of a predetermined tool when the predetermined tool performs a predetermined action on an object (step S101).

[0047] The blending processing unit 3 calculates position information of the hand of the person holding the predetermined tool based on the position information of the predetermined tool acquired by the position information acquisition unit 2 (step S102). The blending processing unit 3 generates an animation of the predetermined tool and the person's hand using blending processing based on the position information of the predetermined tool and the position information of the person's hand (step S103).

[0048] The blending processing unit 3 calculates posture information of the person's trunk based on the calculated position information of the hands (step S104). The blending processing unit 3 generates animation of the trunk using blending processing based on the calculated posture information of the trunk (step S105).

[0049] The inverse kinematics processor 4 calculates posture information of the arms by using inverse kinematics processing so as to connect the human trunk and hands via the arms based on the hand position information and trunk posture information calculated by the blend processor 3 (step S106). The inverse kinematics processor 4 generates animation of the arms based on the calculated posture information of the arms (step S107).

[0050] Although some embodiments of the present disclosure have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims.

[0051] The present disclosure can also be realized by, for example, causing a processor to execute a computer program to perform the processing of each part of the animation generation system 1 described above. The program can be stored and provided to a computer using various types of non-transitory computer readable media. The non-transitory computer readable media includes various types of tangible storage media. Examples of the non-transitory computer readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (random access memories)).

[0052] The program may be provided to the computer by various types of transitory computer readable media. Examples of the transitory computer readable medium include an electric signal, an optical signal, and an electromagnetic wave. The transitory computer readable medium can provide the program to the computer via a wired communication path such as an electric wire and an optical fiber, or via a wireless communication path. [Explanation of symbols]

[0053] 1 Animation generation system, 2 Position information acquisition unit, 3 Blend processing unit, 4 Inverse kinematics calculation processing unit

Claims

1. 1. An animation generation system for generating an animation of a person performing a predetermined action on an object around the person using a predetermined tool, comprising: a position information acquisition unit that acquires position information of the predetermined tool when the predetermined tool performs the predetermined action on the object; a blending processing unit that calculates posture information of a trunk of the person based on position information of a hand of the person which is based on position information of a predetermined tool acquired by the position information acquisition unit, or based on the position information of the predetermined tool, and generates an animation of the trunk by using a blending process based on the calculated posture information of the trunk; an inverse kinematics calculation processing unit that calculates posture information of the arms using inverse kinematics calculation processing based on the position information of the hands calculated by the blend processing unit and the posture information of the trunk so as to connect the trunk and the hands of the person via the arms, and generates an animation of the arms based on the calculated posture information of the arms; An animation generation system comprising:

2. 2. The animation generation system according to claim 1, position information of a hand of the person or position information of the predetermined tool is set as a blending parameter, and table information, a predetermined function, or a machine learning machine is set in advance to indicate a relationship between the blending parameter and a posture parameter indicating a posture of a trunk of the person; The blending processing unit calculates values ​​of the posture parameters, which are posture information of the trunk, based on the values ​​of the blending parameters and the table information, a predetermined function, or a machine learning machine, and generates an animation of the trunk using blending processing based on the calculated posture parameter values.

3. 3. The animation generation system according to claim 2, The table information, the predetermined function, or the machine learning machine is set in association with each of the predetermined tools, An animation generation system, wherein the blending processing unit calculates the value of the posture parameter based on the value of the blending parameter and the table information, a specified function, or a machine learning machine corresponding to a specified tool used by the person.

4. 1. An animation generation method for generating an animation of a person performing a predetermined action on an object around the person using a predetermined tool, comprising: acquiring position information of the predetermined tool when the predetermined tool performs the predetermined action on the object; calculating posture information of a trunk of the person based on position information of a hand of the person based on the acquired position information of the predetermined tool or based on the position information of the predetermined tool, and generating an animation of the trunk using a blending process based on the calculated posture information of the trunk; calculating posture information of the arms using inverse kinematics processing based on the calculated position information of the hands and posture information of the trunk so as to connect the trunk and the hands of the person via the arms, and generating an animation of the arms based on the calculated posture information of the arms; A method for generating animation, comprising:

5. A program for generating an animation of a person performing a predetermined action on an object around the person using a predetermined tool, A process of acquiring position information of the predetermined tool when the predetermined tool performs the predetermined action on the object; calculating posture information of a trunk of the person based on position information of a hand of the person based on the acquired position information of the predetermined tool or based on the position information of the predetermined tool, and generating an animation of the trunk using a blending process based on the calculated posture information of the trunk; a process of calculating posture information of the arms using an inverse kinematics calculation process based on the calculated position information of the hands and posture information of the trunk so as to connect the trunk and the hands of the person via the arms, and generating an animation of the arms based on the calculated posture information of the arms; A program that causes a computer to execute the following.

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