# human-gazebo

**Repository Path**: fishros/human-gazebo

## Basic Information

- **Project Name**: human-gazebo
- **Description**: URDF models of humans created to perform human robot interaction experiments.
- **Primary Language**: Unknown
- **License**: LGPL-2.1
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2021-09-23
- **Last Updated**: 2022-08-30

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# human-gazebo

This repository contains the human gazebo models that are used with [Human Dynamics Estimation](https://github.com/robotology/human-dynamics-estimation) software suite.  The files are generated using [xsens motion capture](https://www.xsens.com/) data and [human-model-generator](https://github.com/dic-iit/human-model-generator). The human model links are made of several simple rigid bodies as shown in the figure below:

![Human model image](misc/human-model.png)


The measurements of each of the human subject are available from the table. Please refer to the human subject data pdf file to know how these measurements are taken. The urdf models are generated from xsens mvnx file generated through xsens mvn studio software suite.  The code to generate the model is available [here](https://github.com/dic-iit/human-model-generator)


|   Subject |  Mass [kg] | Height [cm] | Foot size [cm] | Arm span [cm] | Ankle height [cm] | Hip height [cm]| Hip width [cm] | Knee height [cm] | Shoulder width [cm] | Shoulder height [cm] | Sole height [cm] |
|:---------:|:----:|:---------:|:------:|:------:|:------:|:------:|:------:|:------:|:------:|:------:|:------:|
|  1 | 62.2 | 168 |  24 | 163 | 8 | 91  | 25 | 48.5 | 35.4 | 140 | - |
|  2 | 79.4 | 176 |  26 | 169 | 8 | 94  | 33 | 48   | 40   | 140 | - |
|  3 | 75.4 | 180 |  27 | 190 | 8 | 102 | 28 | 58   | 43   | 148 | - |
|  4 | 72.7 | 182 |  26 | 197 | 8 | 102 | 29 | 56   | 42   | 150 | - |
|  5 | 55   | 168 |  24 | 168 | 8 | 98  | 25 | 52   | 38   | 139 | - |
|  6 | 71.2 | 179 |  29 | 180 | 8 | 100 | 31 | 49   | 43   | 147 | - |
|  7 | 78.9 | 178 |  28 | 192 | 8 | 102 | 30 | 52   | 44   | 148 | - |
|  8 | 55.2 | 166 |  25 | 170 | 8 | 90  | 28 | 45   | 37   | 139 | - |

Currently, the legacy directory contains files related to joint motor control boards based on [gazebo-yarp-plugins](https://github.com/robotology/gazebo-yarp-plugins) and other configuration files needed to control the human joints.