Human Posture (kinect version)¶
This sensor collects the positions of the bones in the human armature
for the file $MORSE_ROOT/data/robots/mocap_human.blend
.
It stores the position and orientation of the general armature object, as well as the local rotation of each individual bone. The rotation angles are given in radians. It exports the same interface than the human posture sensor, but some joints are not reflected by the Kinect, and so they stay to their initial values.
This sensor will only work for the mocap_human.blend
model, as it
uses a specific naming convention for each of the bones.
You can also check to general documentation of the human component.

Configuration parameters for Human Posture (kinect version)¶
No configurable parameter.
Data fields¶
This sensor exports these datafields at each simulation step:
timestamp
(float, initial value:0.0
)number of seconds in simulated time
x
(float, initial value:0.0
)global X position of the armature in the scene, in meter
y
(float, initial value:0.0
)global Y position of the armature in the scene, in meter
z
(float, initial value:0.0
)global Z position of the armature in the scene, in meter
yaw
(float, initial value:0.0
)rotation angle with respect to the Z axis, in radian
pitch
(float, initial value:0.0
)rotation angle with respect to the Z axis, in radian
roll
(float, initial value:0.0
)rotation angle with respect to the Z axis, in radian
empty1
(float, initial value:0.0
)(no documentation available yet)
empty2
(float, initial value:0.0
)(no documentation available yet)
empty3
(float, initial value:0.0
)(no documentation available yet)
empty4
(float, initial value:0.0
)(no documentation available yet)
empty5
(float, initial value:0.0
)(no documentation available yet)
empty6
(float, initial value:0.0
)(no documentation available yet)
dof_12
(float, initial value:0.0
)rotation around the X axis for the torso, in radian
dof_13
(float, initial value:0.0
)rotation around the Y axis for the torso, in radian
dof_14
(float, initial value:0.0
)rotation around the Z axis for the torso, in radian
dof_15
(float, initial value:0.0
)rotation around the Z axis for the head, in radian
dof_16
(float, initial value:0.0
)rotation around the Y axis for the head, in radian
dof_17
(float, initial value:0.0
)rotation around the X axis for the head, in radian
dof_18
(float, initial value:0.0
)rotation around the X axis for the right shoulder, in radian
dof_19
(float, initial value:0.0
)rotation around the Y axis for the right shoulder, in radian
dof_20
(float, initial value:0.0
)rotation around the Z axis for the right shoulder, in radian
dof_21
(float, initial value:0.0
)elongation of the right arm, in meter (not computed)
dof_22
(float, initial value:0.0
)rotation around the Z axis for the right elbow, in radian
dof_23
(float, initial value:0.0
)R_POINT (not computed)
dof_24
(float, initial value:0.0
)rotation around the X axis for the right wrist, in radian (not computed)
dof_25
(float, initial value:0.0
)rotation around the Y axis for the right wrist, in radian (not computed)
dof_26
(float, initial value:0.0
)rotation around the Z axis for the right write, in radian (not computed
dof_27
(float, initial value:0.0
)rotation around the X axis for the left shoulder, in radian
dof_28
(float, initial value:0.0
)rotation around the Y axis for the left shoulder, in radian
dof_29
(float, initial value:0.0
)rotation around the Z axis for the left shoulder, in radian
dof_30
(float, initial value:0.0
)elongation of the left arm, in meter (not computed)
dof_31
(float, initial value:0.0
)rotation around the Z axis for the left elbow, in radian
dof_32
(float, initial value:0.0
)L_POINT (not computed)
dof_33
(float, initial value:0.0
)rotation around the X axis for the left wrist, in radian (not computed)
dof_34
(float, initial value:0.0
)rotation around the Y axis for the left wrist, in radian (not computed)
dof_35
(float, initial value:0.0
)rotation around the Z axis for the left wrist, in radian (not computed)
dof_36
(float, initial value:0.0
)rotation around the X axis for the right hip, in radian
dof_37
(float, initial value:0.0
)rotation around the Y axis for the right hip, in radian
dof_38
(float, initial value:0.0
)rotation around the Z axis for the right hip, in radian
dof_39
(float, initial value:0.0
)rotation around the Z axis for the right knee, in radian
dof_40
(float, initial value:0.0
)rotation around the X axis for the right ankle, in radian (not computed)
dof_41
(float, initial value:0.0
)rotation around the Y axis for the right ankle, in radian (not computed)
dof_42
(float, initial value:0.0
)rotation around the Z axis for the right ankle, in radian (not compued)
dof_43
(float, initial value:0.0
)rotation around the X axis for the left hip, in radian
dof_44
(float, initial value:0.0
)rotation around the Y axis for the left hip, in radian
dof_45
(float, initial value:0.0
)rotation around the Z axis for the left hip, in radian
dof_46
(float, initial value:0.0
)rotation around the Z axis for the left knee, in radian
dof_47
(float, initial value:0.0
)rotation around the X axis for the left ankle, in radian (not computed)
dof_48
(float, initial value:0.0
)rotation around the Y axis for the left ankle, in radian (not computed)
dof_49
(float, initial value:0.0
)rotation around the Z axis for the left ankle, in radian (not computed)
Interface support:
(attention, no interface support!)
Services for Human Posture (kinect version)¶
set_property(prop_name, prop_val)
(blocking)Modify one property on a component
Parameters
prop_name
: the name of the property to modify (as shown the documentation)prop_val
: the new value of the property. Note that there is no checking about the type of the value so be careful
Return value
nothing
get_properties()
(blocking)Returns the properties of a component.
Return value
a dictionary of the current component’s properties
get_local_data()
(blocking)Returns the current data stored in the sensor.
Return value
a dictionary of the current sensor’s data
get_configurations()
(blocking)Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
Examples¶
The following examples show how to use this component in a Builder script:
from morse.builder import *
# adds a default robot (the MORSE mascott!)
robot = Morsy()
# creates a new instance of the sensor
humanposture = HumanPosture()
# place your component at the correct location
humanposture.translate(<x>, <y>, <z>)
humanposture.rotate(<rx>, <ry>, <rz>)
robot.append(humanposture)
# define one or several communication interface, like 'socket'
humanposture.add_interface(<interface>)
env = Environment('empty')
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.sensors.mocap_posture.)