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.

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

$ pip install pybullet

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).

• Main GUI

• Physics Engine GUI

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

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

MIT