Human avatar


MORSE allows the simulation of humans: you can add a human model in your scene, you can control it like any other robot (including from the keyboard or via external scripts), and export from your simulation various data like the full body pose.

The human is managed by MORSE as a regular robot, which means it can have sensors and actuators attached to it.

For a general introduction to human-robot interaction simulation with MORSE, check the HRI main page.

Configuration parameters for Human avatar

You can :

You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).

  • NoGravity (bool, default: False)
    Indicate if we want to consider the gravity for this robot If true, the behaviour is less realistic as the simulator will automatically compensate it. This setting is useful for non-realistic model flying or submarine robot
  • GroundRobot (bool, default: False)
    Indicate if the robot is a ground robot, i.e. basically if it has no way to control its position on the Z axis, nor this X and Y rotation axis
  • Animations (bool, default: True)
    If true (default), will enable various animations like the walk cycle animation.

Services for Human avatar

  • get_configurations() (blocking)

    Returns the configurations of a component (parsed from the properties).

    • Return value

      a dictionary of the current component’s configurations

  • get_properties() (blocking)

    Returns the properties of a component.

    • Return value

      a dictionary of the current component’s properties

  • grasp(grab, obj_name) (blocking)

    Grasp near object.

    • Parameters
      • grab: set to True to take an object and False to release it.
      • obj_name: when None, the robot will just grasp the nearest object without any consideration for the object name.
  • 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



The following examples show how to use this component in a Builder script:

from morse.builder import *

# creates a new instance of the robot
human = Human()

# place your component at the correct location
human.translate(<x>, <y>, <z>)
human.rotate(<rx>, <ry>, <rz>)

# define one or several communication interface, like 'socket'

env = Environment('empty')

Other sources of examples

(This page has been auto-generated from MORSE module morse.robots.human.)