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2013-08-02 10:13:29 -0600 asked a question drcsim Atlas force torque sensors

Hi, in which Frame are sensed forces/torques given that are published on the "/atlas/force_torque_sensors" topic? For example the wrench l_hand, is it represented in global frame, frame of pelvis or in the frame of l_arm_mwx?

And why do the handsensors have nonzero values though the hand is not in contact with something?

Thank you

2013-07-08 09:02:15 -0600 asked a question DRC Atlas safety_controller URDF


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, 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

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2013-07-06 10:30:17 -0600 answered a question atlas does not react in gazebo

Thank you for your answer. Somehow, the AtlasCommand Message works. Maybe it's because of the k_effort parameter that can be set to 255.

2013-07-06 08:35:38 -0600 received badge  Editor (source)
2013-07-06 08:34:12 -0600 asked a question atlas does not react in gazebo

Hi, I'm knew to ROS and Gazebo. I'm trying to get familiar to the Gazebo and ROS with the DRC Environment. Therefore, I was trying the Tutorial in .

I can compile and build the Tutorial properly. Even, if I echo the published joint commands, I see the proper values that have been set. But the received JointStates don't change. I always get the same values for the position. As I don't have an nvidia Graphics Chip, I'm using the atlas_cpu_lidar.launch Launch-Files. Gazebo and RVIZ, both don't show any changes from the initial state of Atlas.

But somehow, if I try to teleoperate Atlas with "roslaunch atlas_utils keyboard_teleop.launch" I can make Atlas move.

Thank You