1) Torque limits on leg_uhz are not the same: 110 vs 260
/usr/share/drcsim-2.3/ros/atlas_description/urdf/atlas.urdf
<joint name="l_leg_uhz" type="revolute">
<origin xyz="0 0.089 0" rpy="0 -0 0" />
<axis xyz="0 0 1" />
<parent link="pelvis" />
<child link="l_uglut" />
<dynamics damping="0.1" friction="0" />
<limit effort="110" velocity="12" lower="-0.32" upper="1.14" />
<joint name="r_leg_uhz" type="revolute">
<origin xyz="0 -0.089 0" rpy="0 -0 0" />
<axis xyz="0 0 1" />
<parent link="pelvis" />
<child link="r_uglut" />
<dynamics damping="0.1" friction="0" />
<limit effort="260" velocity="12" lower="-1.14" upper="0.32" />
2) As long as we are cleaning up the model. l_lglut:ixy and r_lglut:ixy should have opposite signs, same for lglut:iyz, uglut:ixy, uglut:iyz, lleg:ixz, hand:ixz
3) These links have no inertial fields, so the default mass and moi need to be zero.
link name="right_palm_left_camera_optical_frame" link name="right_palm_right_camera_optical_frame" link name="left_palm_left_camera_optical_frame" link name="left_palm_right_camera_optical_frame" link name="left_camera_optical_frame" link name="right_camera_optical_frame"
