Human posture sensor

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.

Files

  • Blender: $MORSE_ROOT/data/robots/human.blend
  • Python: $MORSE_ROOT/src/morse/sensors/human_posture.py

Local data

../../_images/human_joints.png
  • x: (float) global X position of the armature in the scene
  • y: (float) global Y position of the armature in the scene
  • z: (float) global Z position of the armature in the scene
  • yaw: (float) rotation angle with respect to the Z axis
  • pitch: (float) rotation angle with respect to the Y axis
  • roll: (float) rotation angle with respect to the X axis
  • dof_12: (float) rotation around the X axis for the torso
  • dof_13: (float) rotation around the Y axis for the torso
  • dof_14: (float) rotation around the Z axis for the torso
  • dof_15: (float) rotation around the X axis for the head
  • dof_16: (float) rotation around the Y axis for the head
  • dof_17: (float) rotation around the Z axis for the head
  • dof_18: (float) rotation around the X axis for the right shoulder
  • dof_19: (float) rotation around the Y axis for the right shoulder
  • dof_20: (float) rotation around the Z axis for the right shoulder
  • dof_21: (float) rotation around the Z axis for the right elbow
  • dof_22: (float) rotation around the X axis for the right hand
  • dof_23: (float) rotation around the Y axis for the right hand
  • dof_24: (float) rotation around the Z axis for the right hand
  • dof_25: (float) rotation around the X axis for the left shoulder
  • dof_26: (float) rotation around the Y axis for the left shoulder
  • dof_27: (float) rotation around the Z axis for the left shoulder
  • dof_28: (float) rotation around the Z axis for the left elbow
  • dof_29: (float) rotation around the X axis for the left hand
  • dof_30: (float) rotation around the Y axis for the left hand
  • dof_31: (float) rotation around the Z axis for the left hand
  • dof_32: (float) rotation around the X axis for the right hip
  • dof_33: (float) rotation around the Y axis for the right hip
  • dof_34: (float) rotation around the Z axis for the right hip
  • dof_35: (float) rotation around the Z axis for the right knee
  • dof_36: (float) rotation around the X axis for the right foot
  • dof_37: (float) rotation around the Y axis for the right foot
  • dof_38: (float) rotation around the Z axis for the right foot
  • dof_39: (float) rotation around the X axis for the left hip
  • dof_40: (float) rotation around the Y axis for the left hip
  • dof_41: (float) rotation around the Z axis for the left hip
  • dof_42: (float) rotation around the Z axis for the left knee
  • dof_43: (float) rotation around the X axis for the left foot
  • dof_44: (float) rotation around the Y axis for the left foot
  • dof_45: (float) rotation around the Z axis for the left foot

Applicable modifiers

No applicable modifiers at the moment.

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