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Contents

Installation

Prerequisites

  • Matlab
  • iDynTree: a library of robots dynamics algorithms for control, estimation and simulation.

Una-tantum procedure

  • Install the robotology-superbuild.
    git clone https://github.com/robotology/robotology-superbuild.git
    mkdir build
    cd build
    
    Follow installation instructions here. The required library iDynTree will be automatically install via the superbuild.
  • Enable the Matlab bindings for iDynTree.
    cd robotology-superbuild/build/robotology/iDynTree
    cmake ..
    ccmake .
        ROBOTOLOGY_ENABLE_MATLAB    ON
        IDYNTREE_USES_MATLAB        ON
        Matlab_ROOT_DIR             root-to-your-application-Matlab
    make install
    
    • In your .bashrc add export Matlab_ROOT_DIR="root-to-your-application-Matlab".
    • Open Matlab and browse to the folder your-path/robotology-superbuild/build.
    • Run the script Startup-robotology-superbuild.m.

How to generate models

What you need

  • A data folder (e.g., data) containing your dataset, per each subject (e.g., S00X) with
    • a .mvnx file for the human whole-body acquisition.
    • a .mat file with markers acquisition for the hand (if you wantto build the model with articulated hands)
  • The folder templates containig human templates for URDF models.

How to use it

  • Run the script computeHumanURDF.m

  • Fill the dialog box with required info.

  • If you do not want to include the articulad model of the hand into the URDF, insert 'n'. This means that the hand will be represented only by a unique rigid box in the URDF.

  • If you want to include the articulad model of the hand into the URDF, insert 'y'. This will open another dialog box, as follows:

  • With the second dialog box you can choose if building
    • an anthropometric model of the hand. This model does not require the markers acquisition, but only the .mvnx.
    • a marker-driven model of the hand. This model also requires an acquisition of markers properly positioned on top of the hand with a standard optical cameras tracking (e.g., Vicon).

Examples

Given

  • the subject number (e.g., 1)
  • the subject mass (e.g., 60)
  • the subject height (e.g.,1.80)
OPT 48 DOF 66 DOF ANTHROPOMETRIC HAND MARKER-DRIVEN HAND GENERATED URDF
1 ✔️ 1
2 ✔️ 2
3 ✔️ ✔️ 3
4 ✔️ ✔️ 4

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Repository for creating URDF models for human subjects

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