david_rusbarsky's profile - activity

Perhaps I don't understand the arguments for safety_controller correctly, but shouldn't the soft_lower_limit and soft_upper_limit values be within the joint limits specified in limit? Also, these values are in radians, so a value such as 10.6109 doesn't make much sense given knowledge of the robot's capabilities. Are these values a typo or am I misunderstanding their meaning?

<joint name="back_lbz" type="revolute">
  ...
  <limit effort="124.016" velocity="12" lower="-0.610865" upper="0.610865" />
  <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.6109" soft_upper_limit="10.6109" />
</joint>

Thanks!

Does the following do what you want?

rosbag record /atlas/joint_states

Given that all the data goes into one message, I don't think you can record just the effort. The rest of the fields (with the exception of the names) will probably be empty, so essentially you will be recording just the efforts if that is what is being published.

I ran into similar issues (if not the same one) http://answers.gazebosim.org/question/838/save-as-does-not-seem-to-work-as-expected-in-drc/

You should be able to add/remove all shadows using the scene tag in your world file.

...
<world name="default">
  <scene>
    <ambient>0.0 0.0 0.0 1.0</ambient>
    <shadows>0</shadows>
  </scene>
...

If there is a light source (such as the sun) in your world, you may end up with a light side and a dark side to your model. This is not so much a shadow, but a lack of light. If this is not the desired outcome, you have a few options at this point:

1. Add more light sources to get the coverage that you desire
2. Remove all light sources and add ambient light to your scene (change the above values from 0.0 to 0.5) although with this option you seem to lose the textures on your models

Using Save As through the gui of DRC Sim ver. 1.3.1 seems to save the objects in the world using their initial location and orientation. A deleted object will also reappear at its initial location and orientation when the saved world is loaded again.

Steps I took:

1. Opened the sim with an empty world.
2. Added a box to the world.
3. Saved the world, closed the sim, opened the saved world. The box was positioned where I had left it (expected behavior).
4. I moved the box to a new location and changed the orientation (adjusted the yaw value) using the gui.
5. Saved the world as a new world file, closed the sim, opened the newly saved world. The box was positioned in its original location and orientation (not expected behavior).
6. I added a sphere to the world and did not move it. I also moved the box in a similar manner as before.
7. Saved the world as a new world file, closed the sim, opened the newly saved world. The box was positioned in its original location and orientation (not expected behavior). The sphere was there and in its expected location.
8. I deleted the box and moved the sphere to a new location.
9. Saved the world as a new world file, closed the sim, opened the newly saved world. The box was there and was positioned in its original location and orientation (not expected behavior). The sphere was there and in its original location (not expected behavior).

Manually editing the world files (in my favorite text editor) resulted in expected changes including new location/orientation of objects and the addition/removal of objects.

Is this a new issue or is it related to this ticket? https://bitbucket.org/osrf/gazebo/issue/346/saving-world-file-does-not-include-changes

Thanks!