Mocap controller¶
Controller for the motion of the human avatar, using the ASUS Xtion
Read the positions of the different joints at: head, neck, shoulders, torso, elbows, hands, hips, knees and feet And apply those positions to the control points (Empty’s) of the armature
Configuration parameters for Mocap controller¶
No configurable parameter.
Data fields¶
This actuator reads these datafields at each simulation step:
head_position
(vec3<float>, initial value:[0.0, 0.0, 0.0]
)Head position
neck_position
(vec3<float>, initial value:[0.0, 0.0, 0.0]
)Neck position
left_hand_position
(vec3<float>, initial value:[0.0, 0.0, 0.0]
)Left Hand position
right_hand_position
(vec3<float>, initial value:[0.0, 0.0, 0.0]
)Right Hand position
left_elbow_position
(vec3<float>, initial value:[0.0, 0.0, 0.0]
)Left elbow position
right_elbow_position
(vec3<float>, initial value:[0.0, 0.0, 0.0]
)Right elbow position
left_shoulder_position
(vec3<float>, initial value:[0.0, 0.0, 0.0]
)Left shoulder position
right_shoulder_position
(vec3<float>, initial value:[0.0, 0.0, 0.0]
)Right shoulder position
left_hip_position
(vec3<float>, initial value:[0.0, 0.0, 0.0]
)Left hip position
right_hip_position
(vec3<float>, initial value:[0.0, 0.0, 0.0]
)Right hip position
left_foot_position
(vec3<float>, initial value:[0.0, 0.0, 0.0]
)Left foot position
right_foot_position
(vec3<float>, initial value:[0.0, 0.0, 0.0]
)Right foot position
torso_position
(vec3<float>, initial value:[0.0, 0.0, 0.0]
)torso position
left_knee_position
(vec3<float>, initial value:[0.0, 0.0, 0.0]
)left knee position
right_knee_position
(vec3<float>, initial value:[0.0, 0.0, 0.0]
)right knee position
Interface support:
Services for Mocap controller¶
get_properties()
(blocking)Returns the properties of a component.
Return value
a dictionary of the current component’s properties
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_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 actuator
mocapcontrol = MocapControl()
# place your component at the correct location
mocapcontrol.translate(<x>, <y>, <z>)
mocapcontrol.rotate(<rx>, <ry>, <rz>)
robot.append(mocapcontrol)
# define one or several communication interface, like 'socket'
mocapcontrol.add_interface(<interface>)
env = Environment('empty')
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.actuators.mocap_control.)