DRC Atlas safety_controller URDF [closed]

asked 2013-07-08 09:02:15 -0600

Wally gravatar image

updated 2013-07-08 09:56:04 -0600

Hi,

I looked into the URDF-File of Atlas. There, for example, you have:

<joint name="l_arm_shx" type="revolute"><origin rpy="0 -0 0" xyz="0 0.075 0.036"/>

<axis xyz="1 0 0"/><parent link="l_clav"/><child link="l_scap"/> <dynamics damping="1.0" friction="0"/> <limit effort="170" lower="-1.39626" upper="1.74533" velocity="12"/> <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.3963" soft_upper_limit="11.7453"/>

What actually is the safety controller? I looked into http://www.ros.org/wiki/pr2controllermanager/safetylimits, but still I cannot figure out the soft_upper_limit and soft_lower_limit. There, they say " The upper soft limit is the upper hardware limit minus the safetylength_max"

My Hardware position limit for the l_arm_shx joint is [-1.3962 ... +1.74533]. So how do I account the softupperlimit with that? Is +1.74533 given in [rad], where softupperlimit given in [deg]? But this has to be wrong...1.74533 is somewhat 100°.

I'm sorry for this question, but I'm completly new to URDF, Gazebo and DRC

Thank you

edit retag flag offensive reopen merge delete

Closed for the following reason question is not relevant or outdated by nkoenig
close date 2020-12-18 12:56:45.835152