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2017-04-11 20:34:01 -0500 commented answer Gazebo / URDF human model (with joints, not an actor)

No, I want a model where I can move all the joints, not an actor with predefined motions. So like a robot model but of a human. I don't need it to be that realistic as I want to use it with depth images so the mannequin approach may work. Thank you for your answer tho.

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2017-03-30 07:12:34 -0500 answered a question Listen to gazebo topics using a python code

Gazebo doesn't officially support Python (as far as I know). There is this other question asking how to use python with that answer.

The closest thing may be this project which I don't know if it works.

2017-03-30 06:54:34 -0500 asked a question Gazebo / URDF human model (with joints, not an actor)

Hello, I want to use deep learning with depth data from a human body in different poses. The easiest way to obtain a big amount of labelled data is to simulate this human body and obtain labelled depth images.

For this I need a human model either directly modelled in Gazebo SDF or a URDF model. I've been looking for some kind of mannequin model (like the typical wooden mannequin) but I haven't found anything close.

The closest were this question, non moveable and this other question, animated model.

So I'm asking if anyone has something like what I'm looking for. Otherwise, I'll start implementing it, but as it will be quite a lot of work (specially because I'd like to vary the size and volume of links to simulate different sized humans) any help is welcome.

Edit: I may start by modelling from some 3D mannequin model already, like this one.

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2016-04-22 07:07:29 -0500 commented question Error when setting dynamically created joints axis in Gazebo 1.8.0

The package is finished with my bug solved, you can attach any two links of the simulation and later detach them: https://github.com/pal-robotics/gazebo_ros_link_attacher should work on gazebo 2, 4 & 7.

2016-04-21 03:45:30 -0500 commented answer Explain Gazebo friction coefficients <mu> and <mu2>?

If you want to mess around with these parameters dynamically I made a kinda hacky ROS package https://github.com/awesomebytes/gazebo_tests which running spawn_by_params.py and a rqt_reconfigure you can set params of a cube over another cube (which you can set its inclination as a ramp) to test what is going on. It helped me understand what was each param.

2016-04-19 09:55:03 -0500 commented question Error when setting dynamically created joints axis in Gazebo 1.8.0

I'm battling with this problem on this package: https://github.com/pal-robotics/gazebo_ros_link_attacher (self contained) I get a crash when linking two models, and it seems I'm doing it like everyone else. The crash is: ***** Internal Program Error - assertion (self->inertial != __null) failed in static void gazebo::physics::ODELink::MoveCallback(dBodyID): /tmp/buildd/gazebo4-4.1.3/gazebo/physics/ode/ODELink.cc(178): Inertial pointer is NULL

2016-04-19 09:45:39 -0500 commented answer Why ground_plane has mu 100 mu2 50 if documentation says it's in range [0..1]

Yes it did, altho in my tests any value over 1.0 created the same results than 1.0. Maybe on very big (or very small) weights it behaves different. Thank you very much!

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2016-04-19 09:40:18 -0500 commented answer How to add a link/joint in runtime

(Edited) I made a plugin to attach any two links in gazebo: https://github.com/pal-robotics/gazebo_ros_link_attacher

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2016-03-09 10:17:08 -0500 asked a question Why ground_plane has mu 100 mu2 50 if documentation says it's in range [0..1]

Checking out friction parameters trying to solve situations involving grasping and a humanoid walking I ended up with a doubt:

If I check mu and mu2 parameters from ground_plane in the different sdf versions they have values like 100 and 50 or 1000 and 500.

Meanwhile sdf documentation (http://sdformat.org/spec?elem=collisi...) says it's in range [0..1].

I've tried spawning an inclined box as a ramp and spawning a cube over it and play with it's mu and mu2 values. I found out that anything over 1.0 seems to be treated as just 1.0.

I've tested this on Gazebo 2.2 and Gazebo 4.0.

Here you can see a video of the friction acting like that with a tool I made to spawn a inclined ramp and a cube over it with the parameters I tell it on the fly: https://youtu.be/I_QM5v0xT14

2015-03-09 10:12:02 -0500 commented answer How to simulate a Velodyne sensor?

Any code for the spinning hokuyo? Thanks.