ami-iit / human-model-generator Goto Github PK

We should release a first version of the software tool able to generate URDF models of subjects starting from anthropometric measurements.

While doing this we should structure the repository such that it can be easily installed and utilized.

TODO:

• Open PR with the Python scripts that generates the model (#1)
• Open PR for readme and documentation (#3)
• Open PR with the Python project structure

In https://github.com/ami-iit/human-model-generator/tree/main/models/humanModelTemplate we'll add a README with a detailed image and a general description of the model elements.

I have tried to use the tool by selecting a mass of 79Kg by setting the variable at https://github.com/ami-iit/human-model-generator/blob/main/src/GenerateModel.py#L8. However, checking the model mass using idyntree tool:

idyntree-model-info -m  HumanModelGeneratehumanModel.urdf --total-mass

then the output is the following

The total mass of model is 89.0258 Kg.

In this issue, we will look at the degrees of freedom of the model created by HMG.
The model currently has 60 degrees of freedom and is hence overcomplicated.
One approach to reduce this complexity is to consider only the motions that the links can really make in space.

We open this issue to generate an image describing all the elements of the model (joints, links, frames).