Franco Fusco

In the last two commits I added support for multiple sub-controllers (so that it is not strictly necessary to use a `JointGroup`-like controller) and also made sure that efforts are...

> their namespace should be `effort_controllers` instead of `dynamic_controllers` I see your point, and for me it would not be a big deal moving from `dynamics_controllers` to `effort_controllers`. However, I...

Ping!

> For (a), would it be an option to clamp from to left/right limits as a first step inside the function if outside, or should this be on the user...

Hey! I'm the author of the solver, sorry for not having seen this issue before... 😞 My best guess is that the problem is you build the `KDL::Tree` instance as...

I agree that the documentation is a little misleading. In the [wiki page](http://www.orocos.org/wiki/main-page/kdl-wiki/user-manual/kinematic-trees) you linked it indeed seems that inertia is referring to the "parent reference frame". However, this does...

Thanks for having updated the PR! I am really sorry but I cannot manage to figure out what the problem is. From my understanding, it seems that the failing test...

Clearly, I spoke too quickly. The error happened after the test I mentioned, in the code that I added. In particular, there are two lines which were failing: [this](https://github.com/orocos/orocos_kinematics_dynamics/blob/69c756ea512cf1a1511d7c67697256d7f79a2e33/orocos_kdl/tests/solvertest.cpp#L383) and...

**TL;DR** of the issue: - When setting up a camera profile, the "Snapshot Delay" is passed to the script "as-is", as an integer in milliseconds, e.g., `2000`. - When doing...

> the snapshot delay from the profile is not being used when clicking the test button, but rather a default delay of 2 seconds is used Ok, I did not...