def newAtlasCommandMessageAtZero():

    msg = lcmbotcore.atlas_command_t()
    msg.joint_names = [str(v) for v in robotstate.getRobotStateJointNames()]
    msg.num_joints = len(msg.joint_names)
    zeros = np.zeros(msg.num_joints)
    msg.k_q_p = [val_gains[name][0] for name in msg.joint_names]
    msg.k_q_i = zeros.tolist()
    msg.k_qd_p = [val_gains[name][1] for name in msg.joint_names]
    msg.k_f_p = zeros.tolist()
    msg.ff_qd = zeros.tolist()
    msg.ff_qd_d = zeros.tolist()
    msg.ff_f_d = zeros.tolist()
    msg.ff_const = zeros.tolist()
    msg.effort = zeros.tolist()
    msg.velocity = zeros.tolist()
    msg.position = zeros.tolist()
    msg.desired_controller_period_ms = 3
    msg.k_effort = '0'*msg.num_joints
    return msg
dataset/ETHPy150Open RobotLocomotion/director/src/python/tests/testAtlasCommand.py/newAtlasCommandMessageAtZero/original