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.
No configurable parameter.
This sensor exports these datafields at each simulation step:
global X position of the armature in the scene, in meter
global Y position of the armature in the scene, in meter
global Z position of the armature in the scene, in meter
rotation angle with respect to the Z axis, in radian
rotation angle with respect to the Y axis, in radian
rotation angle with respect to the X axis, in radian
(no documentation available yet)
(no documentation available yet)
(no documentation available yet)
(no documentation available yet)
(no documentation available yet)
(no documentation available yet)
rotation around the X axis for the torso, in radian
rotation around the Y axis for the torso, in radian
rotation around the Z axis for the torso, in radian
rotation around the Z axis for the head, in radian
rotation around the Y axis for the head, in radian
rotation around the X axis for the head, in radian
rotation around the X axis for the right shoulder, in radian
rotation around the Y axis for the right shoulder, in radian
rotation around the Z axis for the right shoulder, in radian
elongation of the right arm, in meter
rotation around the Z axis for the right elbow, in radian
R_POINT
rotation around the X axis for the right wrist, in radian
rotation around the Y axis for the right wrist, in radian
rotation around the Z axis for the right wrist, in radian
rotation around the X axis for the left shoulder, in radian
rotation around the Y axis for the left shoulder, in radian
rotation around the Z axis for the left shoulder, in radian
elongation of the left arm, in meter
rotation around the Z axis for the left elbow, in radian
L_POINT
rotation around the X axis for the left wrist, in radian
rotation around the Y axis for the left wrist, in radian
rotation around the Z axis for the left wrist, in radian
rotation around the X axis for the right hip, in radian
rotation around the Y axis for the right hip, in radian
rotation around the Z axis for the right hip, in radian
rotation around the Z axis for the right knee, in radian
rotation around the X axis for the right ankle, in radian
rotation around the Y axis for the right ankle, in radian
rotation around the Z axis for the right ankle, in radian
rotation around the X axis for the left hip, in radian
rotation around the Y axis for the left hip, in radian
rotation around the Z axis for the left hip, in radian
rotation around the Z axis for the left knee, in radian
rotation around the X axis for the left ankle, in radian
rotation around the Y axis for the left ankle, in radian
rotation around the Z axis for the left ankle, in radian
Interface support:
Returns the current data stored in the sensor.
Return value
a dictionary of the current sensor’s data
The following example shows how to use this component in a Builder script:
from morse.builder import *
robot = ATRV()
# 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(%(var)s)
# 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.human_posture.)