Contents

• Installation
  • Prerequisites
  • Una-tantum procedure
• How to generate model
  • What you need
  • How to use it

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/src/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

• Move to the folder where you clone the repo.
• 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|✔️| | | | 2| |✔️| | | 3|✔️| |✔️| | 4|✔️| | |✔️|