Diego Ferigo comments

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                                            Diego Ferigo

Implement properly simulated joint torque control mode

Ok, it makes sense. I think these information could be useful both for people coming here and for whom will address this issue. Thanks again!

Resetting iCub in Gazebo from C++

Adding more details, the only issue still present with Gazebo 8 is the following: ``` [ERROR]An hardware fault occurred on joint 2 torque too big! ``` But on this version,...

Add support for using icub-models out of the box with PyBullet

Can you try loading the sdf model without hands? @anqingd

Add support for using icub-models out of the box with PyBullet

I found this tutorial about the differences between SDF and URDF frames specifications quite interesting: https://bitbucket.org/osrf/sdf_tutorials/src/default/pose_frame_semantics/tutorial.md

Instruction on using the models in Gazebo should be updated to consider also the case in which the models are used from the build directory

I'm confused, would it be different than https://github.com/robotology/icub-models#from-the-source-repo? Edit: ow, now I got the right anchor to the README. Yes it is missing.

Update models with realistic viscous and coulomb friction parameters

I want to bump this issue since it is affecting all our simulations. Is there available any (even unofficial) list of recently identified friction parameters? I don't think that these...

Avoid to use modified models to deal with numerical instabilities in Gazebo and related tools

While having a one-size-fits-all model would be a great achievement, from our experience we realized that is hardly possible. We could maybe remove the duality between `iCubGazeboV2_5` and `iCubCityNameXXX` with...

Avoid to use modified models to deal with numerical instabilities in Gazebo and related tools

> The point of the issue is to make sure that any modification for use with Gazebo or any simulator that we "officially" support in the future should be done...

Avoid to use modified models to deal with numerical instabilities in Gazebo and related tools

Maybe [Proposal for parameter passing](http://sdformat.org/tutorials?tut=param_passing_proposal&cat=pose_semantics_docs&) can be a powerful solution. It seems based on SDFormat 1.7, therefore also Gazebo Classic 11 (https://github.com/robotology/icub-models/issues/77) should be supported. Edit: maybe not, at the...

Avoid to use modified models to deal with numerical instabilities in Gazebo and related tools

> > Edit: maybe not, at the time of writing Gazebo Classic 11 [uses sdformat9](https://github.com/ignition-tooling/gazebodistro/blob/acf699453a8bf69b30c83c8a80241bc75017f09e/gazebo11.yaml#L30-L33) and the proposal targets sdformat10. It's not remote the possibility that the supported sdformat version...