Proximity Sensing Using Kinect

[JamesCakes]

Hello,

I am using a Kinect with the FAAST program in order to create a 3d spherical representation of a person. My goal is to create a way for that person's hand to interact with an object that has been created. I want to be able to move that object from point A to point B. Below is the code that I have written so far. I am having trouble getting the sensors to connect with the hand spheres, and I also don't know how to create a movable object in Vizard. I am new to this and am using this as part of an experiment:

import viz
import vizshape
import math
import random
import time
import vizact
import vizproximity

viz.go()
grid = vizshape.addGrid()

"""
Kinect Tracker object ID's
These are not actually being used in the script but are to
help anyone who wants to get access to a specific bodypart.
For example to just get a handle to tracking data for the head use:
myHead = vrpn.addTracker( 'Tracker0@localhost', HEAD).
"""
HEAD = 0
NECK = 1
TORSO = 2
WAIST = 3
LEFTCOLLOR = 4
LEFTSHOULDER = 5
LEFTELBOW = 6
LEFTWRIST = 7
LEFTHAND = 8
LEFTFINGERTIP = 9
RIGHTCOLLAR = 10
RIGHTSHOULDER = 11
RIGHTELBOW = 12
RIGHTWRIST = 13
RIGHTHAND = 14
RIGHTFINGERTIP = 15
LEFTHIP = 16
LEFTKNEE = 17
LEFTANGLE = 18
LEFTFOOT = 19
RIGHTHIP = 20
RIGHTKNEE = 21
RIGHTANKLE = 22
RIGHTFOOT = 23

#store trackers, links, and vizshape objects
trackers = []
links = []
shapes = []

#start vrpn
vrpn = viz.addExtension('vrpn7.dle')

#now add all trackers and link a shape to it
for i in range(0, 24):
t = vrpn.addTracker( 'Tracker0@localhost',i )
s = vizshape.addSphere(radius=.1)
l = viz.link(t,s)
trackers.append(t)
links.append(l)
shapes.append(s)

################################################## ################################################## ##########################
### Proximity Section ###

viz.phys.enable()

manager = vizproximity.Manager()
manager.setDebug(viz.ON)

#Add main viewpoint as proximity target
target = vizproximity.Target(viz.MainView)
manager.addTarget(target)

#Creating Right Hand Sensor
rightHandSphere = vizshape.addSphere(radius = 0.08)
rightHandSphere.color( viz.BLUE )
rightHandLink = viz.link( shapes[14] , rightHandSphere ) #links the proximity with the sphere

#Creating Left Hand Sensor
leftHandSphere = vizshape.addSphere(radius = 0.08)
leftHandSphere.color( viz.BLUE )
rightHandLink = viz.link( shapes[14] , rightHandSphere ) #links the proximity with the sphere