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robotology / human-gazebo

URDF models of humans created to perform human robot interaction experiments.
GNU Lesser General Public License v2.1
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Add model tests to check symmetry in geometry and intertial parameters #11

Closed yeshasvitirupachuri closed 4 years ago

yeshasvitirupachuri commented 4 years ago

In some recent tests related to human-dynamics-estimation, we suspected there may be some inconsistencies in the model geometry and inertial parameters. So, we decided to add a model test script that will assist in assessing the human models saved in this repo. A matlab script model_test.m is available at feature/model-test.

@prashanthr05 @lrapetti @claudia-lat @traversaro @kouroshD @DanielePucci

yeshasvitirupachuri commented 4 years ago

I added inertial parameters check https://github.com/robotology/human-gazebo/commit/d3c8f139d7a7a412a1508c04252618097bb7e6d5, and there seems to a mismatch between the LeftHand and RightHand for all the models

Subject 01

Warning: Mismatch in mass 
Warning: LeftHand link mass is 0.373200 Kgs 
Warning: RightHand link mass is 1.033200 Kgs 
Warning: Mismatch in center of mass position 
Warning: LeftHand link center of mass is (0.000000, 0.031195, 0.000000) 
Warning: RightHand link center of mass is (0.000000, -0.086363, 0.000000) 
Warning: Mismatch in inertia 
Warning: LeftHand link inertia elements are (0.003525, 0.000000, 0.000000, 0.000434, 0.000000, 0.003863) 
Warning: RightHand link inertia elements are (0.009758, 0.000000, 0.000000, 0.001202, 0.000000, 0.010695)

Subject 02

Warning: Mismatch in mass 
Warning: LeftHand link mass is 0.476400 Kgs 
Warning: RightHand link mass is 1.136400 Kgs 
Warning: Mismatch in center of mass position 
Warning: LeftHand link center of mass is (0.000000, 0.040975, 0.000000) 
Warning: RightHand link center of mass is (0.000000, -0.097741, 0.000000) 
Warning: Mismatch in inertia 
Warning: LeftHand link inertia elements are (0.004762, 0.000000, 0.000000, 0.000586, 0.000000, 0.005221) 
Warning: RightHand link inertia elements are (0.011360, 0.000000, 0.000000, 0.001397, 0.000000, 0.012454)

Subject 05

Warning: Mismatch in mass 
Warning: LeftHand link mass is 0.330000 Kgs 
Warning: RightHand link mass is 0.990000 Kgs 
Warning: Mismatch in center of mass position 
Warning: LeftHand link center of mass is (0.000000, 0.028196, 0.000000) 
Warning: RightHand link center of mass is (0.000000, -0.084587, 0.000000) 
Warning: Mismatch in inertia 
Warning: LeftHand link inertia elements are (0.003256, 0.000000, 0.000000, 0.000401, 0.000000, 0.003569) 
Warning: RightHand link inertia elements are (0.009769, 0.000000, 0.000000, 0.001204, 0.000000, 0.010707)

Subject 08

Warning: Mismatch in mass 
Warning: LeftHand link mass is 0.331200 Kgs 
Warning: RightHand link mass is 0.991200 Kgs 
Warning: Mismatch in center of mass position 
Warning: LeftHand link center of mass is (0.000000, 0.028724, 0.000000) 
Warning: RightHand link center of mass is (0.000000, -0.085964, 0.000000) 
Warning: Mismatch in inertia 
Warning: LeftHand link inertia elements are (0.003368, 0.000000, 0.000000, 0.000415, 0.000000, 0.003691) 
Warning: RightHand link inertia elements are (0.010079, 0.000000, 0.000000, 0.001243, 0.000000, 0.011045)

I believe there is an error in the urdf template @claudia-lat This explains the offset of the model center of mass offset in the y direction during neutral T pose

@prashanthr05 @lrapetti @claudia-lat @traversaro @kouroshD @DanielePucci

yeshasvitirupachuri commented 4 years ago

As a quick test, I set the mass and inertial values of the RightHand to be the same as the LeftHand in humanSubject02 model and the center of mass y value is 0

comPositionInWorldFrame-1

claudia-lat commented 4 years ago

Yes @Yeshasvitvs you're right! They are wrong. By construction, the code in https://github.com/dic-iit/human-model-generator/tree/master/human_23links builds symmetric hands:

You are using the models stored in May, they for sure have been generated with an error. I would suggest you to generate the models again (for all the subjects) and overwrite the wrong ones. Run the script https://github.com/dic-iit/human-model-generator/blob/master/human_23links/computeHumanURDF.m by having a data folder structured as described in the header of the script itself.

claudia-lat commented 4 years ago

@claudia-lat please open an issue to create the new models in this repo. We can close this issue since we found the problem.