/humanoid_urdf_modifier

Effortlessly modify and customize URDF files with the URDF Modifier Script. Streamline robot model adjustments, tweak joint parameters, and enhance your URDF file management for faster robotic development. Simplify customization, accelerate workflow, and empower your robotics projects with this versatile script.

Primary LanguagePythonMIT LicenseMIT

Humanoid Modifier

Humanoid Modifier is a python script that allows to modify a humanoid urdf model in workers folder for experiments with multiple humanoids for handovers with robots.

Installation

It has developed with Tkinter for GUI and pybullet physics library.

$ pip install pybullet

Usage

Run modifier script: $ python urdf_modifier.py

Use the UI to modify the humanoid dimensions and the mass.

Function:

  • Add new URDF model by adding a unique name.
  • Update existing URDF model.
  • Delete an existing URDF model.
  • Visualize URDF model with pybullet physics engine.

Humanoid:

  • Set the legs as non movable (fixed joints) or movable (revolute joints).

GUI Screenshots

  • Main GUI

  • Physics Engine GUI

Contributing

Please send me your changes or any improvement, bug or whatever.

License

This is work on progress of Felice project and deveoped by George Alexakis and Michalis Maniadakis.

MIT