Mav14's profile - activity

And this is the error I get Could not find resource 'waist' in 'hardware_interface::EffortJointInterface'.. I can't figu

And this is the error I get Could not find resource 'waist' in 'hardware_interface::EffortJointInterface'.

I have a related issue. My transmission is set up as <transmission name="tran1"> <type>transmission_

I have a related issue. My transmission is set up as <transmission name="tran1"> <type>transmissi

Well, we're not entirely out of the gazebo realm. that's a resource related to the <transmission> tags in the urdf

Nope. The model is fine now that I've fixed the inertia tensor.

@chapulina, looks like I found the issue. There was some error when the model was created in solidworks and there wasn't

@chapulina, looks like I found the issue. There was some error when the model was created in solidworks and there wasn't

@chapulina, I did what you said and added one link at a time. The second to last link makes the model collapse. The last

@chapulina, I did what you said and added one link at a time. The second to last link makes the model collapse. The last

@chapulina, The robot looks fine before the simulation is started. I don't really see anything in verbose mode either. G

Model spawning incorrectly in Gazebo despite looking good in Rviz I am trying to import a custom robot into gazebo. I de

I'm recording the forces on Atlas' foot while walking normally. The forces in the beginning behave as expected.

However there's some crazy oscillation towards the end when both the feet are on the ground. I'd like to understand why that is happening.

Thanks

I'm trying to add a bumper plugin to the drcsim atlas model so I tracked down the atlas.urdf file that is run by roslaunch drcsim_gazebo atlas.launchand added the following code for the r_foot link

<gazebo> <plugin name="${name}_gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so"> <alwaysOn>true</alwaysOn> <updateRate>${update_rate}</updateRate> <bumperTopicName>${name}_bumper</bumperTopicName> <frameName>world</frameName> </plugin> <gazebo>

By my understanding this is supposed to create a topic called atlas_bumper but I don't see anything of that sort when I run rostopic list. I'm new to this, what am I doing wrong?

Thanks

I'm trying to add a bumper plugin to the atlas robot and so I'd like to find the URDF file. I run roslaunch drcsim_gazebo atlas.launch to launch the simulation. So far I've managed to find the launch file but I don't know where to go from there. Thanks.

I'm trying to take a simple event in which the Atlas steps on the ground plane. I want to see which functions ODE calls and the functions ODE uses to determine the constraint forces. I'd like to see this happen while the simulation is running. Is there a way I could do that? I'd like to know what constraint equations and constraint forces ODE is using for that particular case. Thanks.

Thanks for that answer. The Atlas feet are indeed approximated as boxes however the STL file is already made up of triangles I don't know how I would refine it further and whether that refinement would stop gazebo from approximating it as a box.

I was looking at the contact points for the Atlas in the DRCsim package. Each foot has 4 contact points at each vertex of the rectangle. I'd like to know how these points are determined. I've tried looking at the ODE code, but C++ isn't my strong suit so I had some difficulty figuring out what was going on. What I understand is that ODE compares the geometries one by one however it's not possible to compare all points so it only compare a select few points. What I'm trying to understand is what basis are those particular points selected? Why does the Atlas have the 4 contacts set up the way they are, and not some additional points on the heel? Can I add them myself?

Thanks.