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*.

*No configurable parameter.*

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!)

`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

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')
```

*(This page has been auto-generated from MORSE module morse.sensors.mocap_posture.)*