Source code for morse.sensors.mocap_posture
import logging; logger = logging.getLogger("morse." + __name__)
from morse.core import blenderapi
import morse.core.sensor
from morse.helpers.components import add_data
#logger.setLevel(logging.DEBUG)
[docs]class HumanPosture(morse.core.sensor.Sensor):
"""
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
:doc:`human posture sensor <../sensors/human_posture>`, 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 :doc:`human
component <../others/human>`.
.. image:: ../../../media/human_joints.png
:align: center
:width: 600
"""
_name = "Human Posture (kinect version)"
add_data('x', 0.0, "float",
'global X position of the armature in the scene, in meter')
add_data('y', 0.0, "float",
'global Y position of the armature in the scene, in meter')
add_data('z', 0.0, "float",
'global Z position of the armature in the scene, in meter')
add_data('yaw', 0.0, "float",
'rotation angle with respect to the Z axis, in radian')
add_data('pitch', 0.0, "float",
'rotation angle with respect to the Z axis, in radian')
add_data('roll', 0.0, "float",
'rotation angle with respect to the Z axis, in radian')
add_data('empty1', 0.0, "float")
add_data('empty2', 0.0, "float")
add_data('empty3', 0.0, "float")
add_data('empty4', 0.0, "float")
add_data('empty5', 0.0, "float")
add_data('empty6', 0.0, "float")
add_data('dof_12', 0.0, 'float',
'rotation around the X axis for the torso, in radian')
add_data('dof_13', 0.0, 'float',
'rotation around the Y axis for the torso, in radian')
add_data('dof_14', 0.0, 'float',
'rotation around the Z axis for the torso, in radian')
add_data('dof_15', 0.0, 'float',
'rotation around the Z axis for the head, in radian')
add_data('dof_16', 0.0, 'float',
'rotation around the Y axis for the head, in radian')
add_data('dof_17', 0.0, 'float',
'rotation around the X axis for the head, in radian')
add_data('dof_18', 0.0, 'float',
'rotation around the X axis for the right shoulder, in radian')
add_data('dof_19', 0.0, 'float',
'rotation around the Y axis for the right shoulder, in radian')
add_data('dof_20', 0.0, 'float',
'rotation around the Z axis for the right shoulder, in radian')
add_data('dof_21', 0.0, 'float',
'elongation of the right arm, in meter (not computed)')
add_data('dof_22', 0.0, 'float',
'rotation around the Z axis for the right elbow, in radian')
add_data('dof_23', 0.0, 'float', 'R_POINT (not computed)')
add_data('dof_24', 0.0, 'float',
'rotation around the X axis for the right wrist, in radian \
(not computed)')
add_data('dof_25', 0.0, 'float',
'rotation around the Y axis for the right wrist, in radian \
(not computed)')
add_data('dof_26', 0.0, 'float',
'rotation around the Z axis for the right write, in radian \
(not computed')
add_data('dof_27', 0.0, 'float',
'rotation around the X axis for the left shoulder, in radian')
add_data('dof_28', 0.0, 'float',
'rotation around the Y axis for the left shoulder, in radian')
add_data('dof_29', 0.0, 'float',
'rotation around the Z axis for the left shoulder, in radian')
add_data('dof_30', 0.0, 'float',
'elongation of the left arm, in meter (not computed)')
add_data('dof_31', 0.0, 'float',
'rotation around the Z axis for the left elbow, in radian')
add_data('dof_32', 0.0, 'float', 'L_POINT (not computed)')
add_data('dof_33', 0.0, 'float',
'rotation around the X axis for the left wrist, in radian \
(not computed)')
add_data('dof_34', 0.0, 'float',
'rotation around the Y axis for the left wrist, in radian \
(not computed)')
add_data('dof_35', 0.0, 'float',
'rotation around the Z axis for the left wrist, in radian \
(not computed)')
add_data('dof_36', 0.0, 'float',
'rotation around the X axis for the right hip, in radian')
add_data('dof_37', 0.0, 'float',
'rotation around the Y axis for the right hip, in radian')
add_data('dof_38', 0.0, 'float',
'rotation around the Z axis for the right hip, in radian')
add_data('dof_39', 0.0, 'float',
'rotation around the Z axis for the right knee, in radian')
add_data('dof_40', 0.0, 'float',
'rotation around the X axis for the right ankle, in radian \
(not computed)')
add_data('dof_41', 0.0, 'float',
'rotation around the Y axis for the right ankle, in radian \
(not computed)')
add_data('dof_42', 0.0, 'float',
'rotation around the Z axis for the right ankle, in radian \
(not compued)')
add_data('dof_43', 0.0, 'float',
'rotation around the X axis for the left hip, in radian')
add_data('dof_44', 0.0, 'float',
'rotation around the Y axis for the left hip, in radian')
add_data('dof_45', 0.0, 'float',
'rotation around the Z axis for the left hip, in radian')
add_data('dof_46', 0.0, 'float',
'rotation around the Z axis for the left knee, in radian')
add_data('dof_47', 0.0, 'float',
'rotation around the X axis for the left ankle, in radian \
(not computed)')
add_data('dof_48', 0.0, 'float',
'rotation around the Y axis for the left ankle, in radian \
(not computed)')
add_data('dof_49', 0.0, 'float',
'rotation around the Z axis for the left ankle, in radian \
(not computed)')
def __init__(self, obj, parent=None):
""" Constructor method.
Receives the reference to the Blender object.
The second parameter should be the name of the object's parent. """
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
morse.core.sensor.Sensor.__init__(self, obj, parent)
logger.info('Component initialized, runs at %.2f Hz', self.frequency)
def _read_pose(self, armature):
for channel in armature.channels:
if 'X_' not in channel.name:
if channel.name == 'Chest':
self.local_data['dof_12'] = channel.joint_rotation[0]
self.local_data['dof_13'] = channel.joint_rotation[2]
self.local_data['dof_14'] = - channel.joint_rotation[1]
if channel.name == 'Head':
self.local_data['dof_15'] = - channel.joint_rotation[0] #z axis
self.local_data['dof_16'] = channel.joint_rotation[2] #x axis
self.local_data['dof_17'] = channel.joint_rotation[1] #y axis
if channel.name == 'UpArm.R':
self.local_data['dof_18'] = - channel.joint_rotation[0]
self.local_data['dof_19'] = channel.joint_rotation[2]
if channel.name == 'ForeArm.R':
self.local_data['dof_20'] = -channel.joint_rotation[2]
self.local_data['dof_22'] = channel.joint_rotation[0]
# Kinect does not provide rotations for the hands
#if channel.name == 'Hand.R':
# self.local_data['dof_24'] = channel.joint_rotation[0]
# self.local_data['dof_25'] = channel.joint_rotation[1]
# self.local_data['dof_26'] = channel.joint_rotation[2]
if channel.name == 'UpArm.L':
self.local_data['dof_27'] = - channel.joint_rotation[0]
self.local_data['dof_28'] = - channel.joint_rotation[2]
if channel.name == 'ForeArm.L':
self.local_data['dof_29'] = -channel.joint_rotation[2]
self.local_data['dof_31'] = channel.joint_rotation[0]
# Kinect does not provide rotations for the hands
#if channel.name == 'Hand.L':
# self.local_data['dof_33'] = channel.joint_rotation[0]
# self.local_data['dof_34'] = channel.joint_rotation[1]
# self.local_data['dof_35'] = channel.joint_rotation[2]
if channel.name == 'UpLeg.R' :
self.local_data['dof_36'] = - channel.joint_rotation[0]
self.local_data['dof_37'] = - channel.joint_rotation[2]
self.local_data['dof_38'] = - channel.joint_rotation[1]
if channel.name == 'LoLeg.R':
self.local_data['dof_39'] = - channel.joint_rotation[2]
# Kinect does not provide rotations for the feet
#if channel.name == 'Foot.R':
# self.local_data['dof_40'] = channel.joint_rotation[0]
# self.local_data['dof_41'] = channel.joint_rotation[1]
# self.local_data['dof_42'] = channel.joint_rotation[2]
if channel.name == 'UpLeg.L':
self.local_data['dof_43'] = - channel.joint_rotation[0]
self.local_data['dof_44'] = - channel.joint_rotation[2]
self.local_data['dof_45'] = - channel.joint_rotation[1]
if channel.name == 'LoLeg.L':
self.local_data['dof_46'] = - channel.joint_rotation[2]
# Kinect does not provide rotations for the feet
#if channel.name == 'Foot.L':
# self.local_data['dof_47'] = channel.joint_rotation[0]
# self.local_data['dof_48'] = channel.joint_rotation[1]
# self.local_data['dof_49'] = channel.joint_rotation[2]
[docs] def default_action(self):
""" Extract the human posture """
# Give the position of the Torso_Empty object as the position of
# the human
scene = blenderapi.scene()
torso = scene.objects['Torso_Empty']
self.local_data['x'] = torso.worldPosition[0]
self.local_data['y'] = torso.worldPosition[1]
self.local_data['z'] = torso.worldPosition[2]
logger.debug("\tTorso_Empty position: (%.4f, %.4f, %.4f)" %
(torso.worldPosition[0],
torso.worldPosition[1],
torso.worldPosition[2]))
# Pass also the rotation of the Torso_Empty
self.local_data['yaw'] = torso.worldOrientation.to_euler().z
self.local_data['pitch'] = torso.worldOrientation.to_euler().y
self.local_data['roll'] = torso.worldOrientation.to_euler().x
logger.debug("\tTorso_Empty orientation: (%.4f, %.4f, %.4f)" %
(self.local_data['roll'],
self.local_data['pitch'],
self.local_data['yaw']))
self._read_pose(self.bge_object)
logger.debug("LOCAL_DATA: %s" % self.local_data)
