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chrisdembia / yeadon

The human inertia model developed by Fred Yeadon in 1990.
https://pypi.python.org/pypi/yeadon
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Input joint positions instead of joint angles #136

Open jolink opened 1 year ago

jolink commented 1 year ago

I think it would be beneficial to add a function to update the model with joint positions instead of joint angles. That way it would be compatible with and easy to apply to current state-of-the-art pose estimation frameworks.

moorepants commented 1 year ago

Thanks for the suggestion. Feel free to scratch your own itch and submit a pull request. This package is basically in maintenance mode, we haven't added new features a long time but welcome contributions.

moorepants commented 1 year ago

This example gives you some idea of what it might take to calculate joint angles from joint positions: https://github.com/chrisdembia/yeadon/tree/master/examples/bicyclerider If you develop the transforms from point locations to joint angles, then we could have a layer that let's you specify configuration from position. The devil is in the details and getting it all tied into the UI/GUI and API will take some work.