HAS-Motion Software Documentation

This is an old revision of the document!

---

sample data can be downloaded here]].** - save the sword.obj file in your [[visual3d:tutorials:modeling:fun_with_graphics#finding_your_graphics_folder|models folder]] - open the mvnx file: - file -> open - browse for mvnx file - notice all the information for the prop signal is loaded and the segment coordinate system is displayed in the 3d viewer - run the pipeline: - pipeline -> workshop - open pipeline - browse for sword.v3s - execute pipeline **the pipeline will:** * adjust the position of the prop so that it is fixed to the center of mass of the hand * load the sword graphic object * color the sword red ===== segment properties ===== the graphics object and kinetic segment properties can be defined using the segment properties command. in this example, the sword graphic object is being associated with the prop: <code> set_segment_properties /calibration_file= /segment_name=pr1 ! /kinematic_only= ! /mass= ! /cg_from_prox_axial= ! /cg_from_prox_ml= ! /cg_from_prox_ap= ! /inertia_xx= ! /inertia_yy= ! /inertia_zz= ! /ap_direction= ! /axial_direction= /model_file=sword.obj ! /material_file= ! /graphics_rot_x= ! /graphics_rot_y= ! /graphics_rot_z= /graphics_scale_x=2.5 /graphics_scale_y=2.5 /graphics_scale_z=2.5 ! /graphics_translate_x= ! /graphics_translate_y= ! /graphics_translate_z= ; </code> ==== graphics object ==== in visual3d graphics objects are just for visual affect and can be adjusted as needed. [[visual3d:tutorials:modeling:fun_with_graphics|graphics objects are described here, which will also explain how to store the graphics object in the correct location on your computer]]. ==== kinetic properties ==== set the segment to kinetic (/kinmeatic_only=false), set the segment mass, and inertial properties. these settings will be specific to whatever your prop segment represents. ===== adjusted position ===== **a.** by default, visual3d uses the position data from the mvnx file. in this example, you will notice that the hand and the sword are close at frame 1.\\ **b.** however, at the end of the file there is an offset between the the sword and the hand segment.\\ **c.** by overwriting the sword position with the hand center of gravity signal, the sword position is then moved to the hand, which may be a more realistic location since the prop is in the person's hand.\\ | __**a. frame 1:**__\\ \\ xsens_proppos_frame1.png | __**b. last frame:**__\\ \\ xsens_proppos_framelast.png | __**c. last frame adjusted:**__\\ \\ xsens_proppos_framelastadjusted.png | the position data for the prop is stored in body::original::pr1_pos. by storing data in body::processed::pr1_pos, the processed signal will be used instead. an example of using the hand center of gravity instead of the data original signal would be: <code> evaluate_expression /expression=kinetic_kinematic::rha::cgpos ! /signal_types= ! /signal_folder=original ! /signal_names= /result_types=body /result_folders=processed /result_name=pr1_pos ! /apply_as_suffix_to_signal_name=false ; </code> ===== adjust graphics object color within visual3d ===== this step would be done just for graphics. typically an obj file has a corresponding mtl file which contains the color information. however, you can also add color to a segment graphic in visual3d using the [[visual3d:documentation:pipeline:other_commands:map_object_color_to_signal_value|map_object_color_to_signal_value]] command. the example below colors the sword graphic red: <code> map_object_color_to_signal_value /object_name=pr1 /signal_types=kinetic_kinematic /signal_folder=pr1 /signal_names=cgpos ! /component_sequence=x /min_colors=red /inner_colors=red /max_colors=red ! /inner_color_index=127 /max_color_index=256 /min_values=0 /max_values=200 ! /remove_existing_colorizations=false ! /color_map_file_names= ! /color_map_files= ; </code> }}}}