ROS Package for Drawing Human Model in RViz

#Installation Copy the files under the ROS workspace

#Example Execution

-Run Singeleton Server
-roslaunch icub_arm_imitator imitator_online.launch
-roslaunch human_model human_model.launch (model:=female2)
You can change model with directory name under urdf directory (default female3)

#Help For source code You can use the following

python
import animator
help(animator) help(animator.JointTree) etc.

#URDF Directory Structure Every directory indicates a different model. General structure of directory is:
meshes directory: contains Collada files used in models.xacro
tree.json : contains tree structure needed for animator.py .If a value is omitted,default value will be used. Default values can be found with help(animator.JointTree.__init__)
model.xacro: evaluated to create urdf file used by RViz by launch file.General macros used for multiple models are:
<xacro:link_to_world link="link name" mesh="name of the mesh" scale="scale of the mesh"/>
<xacro:link_without_geo link="link name"/>
<xacro:connector link="link name" mesh="name of the mesh" scale="scale of the mesh"/>
<xacro:connector_without_geo link="link name"/>