Human Posture

This sensor collects the positions of the bones in the human armature for the file $MORSE_ROOT/data/robots/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.

This sensor will only work for the 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

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 Y axis, in radian

• roll (float, initial value: 0.0)

  rotation angle with respect to the X 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

• 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

• dof_24 (float, initial value: 0.0)

  rotation around the X axis for the right wrist, in radian

• dof_25 (float, initial value: 0.0)

  rotation around the Y axis for the right wrist, in radian

• dof_26 (float, initial value: 0.0)

  rotation around the Z axis for the right wrist, in radian

• 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

• 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

• dof_33 (float, initial value: 0.0)

  rotation around the X axis for the left wrist, in radian

• dof_34 (float, initial value: 0.0)

  rotation around the Y axis for the left wrist, in radian

• dof_35 (float, initial value: 0.0)

  rotation around the Z axis for the left wrist, in radian

• 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

• dof_41 (float, initial value: 0.0)

  rotation around the Y axis for the right ankle, in radian

• dof_42 (float, initial value: 0.0)

  rotation around the Z axis for the right ankle, in radian

• 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

• dof_48 (float, initial value: 0.0)

  rotation around the Y axis for the left ankle, in radian

• dof_49 (float, initial value: 0.0)

  rotation around the Z axis for the left ankle, in radian

Interface support:

• socket as straight JSON serialization (morse.middleware.socket_datastream.SocketPublisher)
• yarp as YarpPublisher (morse.middleware.yarp_datastream.YarpPublisher)
• moos as StringPublisher (morse.middleware.moos.abstract_moos.StringPublisher)
• text as key = value format with timestamp and index value (morse.middleware.text_datastream.Publisher)
• pocolibs as STRUCT_SPARK_CONFIGURATION (morse.middleware.pocolibs.sensors.human_posture.HumanPoster)

Services for Human Posture

• get_configurations() (blocking)

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

  • Return value

    a dictionary of the current component’s configurations

• get_local_data() (blocking)

  Returns the current data stored in the sensor.

  • Return value

    a dictionary of the current sensor’s data

• 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

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

• Source code
• Unit-test

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