Yue Hu

I'm trying to implement the modifications necessary to simulate SEA joints. - In the sdf file the joint with elastic elements will have syntax ``` XML parent_link rotor rotor child_link...

@traversaro I mean `Modify behavior of Position and Velocity PID`, and of course `Modify behavior of Torque control (direct Torque control and impedance position)` I think I've done the `iMotorEncoders`...

@traversaro Yes, that would be nice thanks. I'll contact you on skype for that. With the actual implementation it is closed only on the actuated joint and is basically ignoring...

@barbalberto I think the point is if iEncoder returns the values after the elasticity or not, because in the actual implementation we assume it is after the elasticity. I can...

Yes I just received the mail, thanks! When I'm done I'll do it.

So to summarize the current situation: - I pushed the branch sea_joints: https://github.com/robotology/gazebo-yarp-plugins/tree/sea_joints - In case of SEA joints, the syntax to use in the configuration file is different and...

Last update as per commit b21b042cbfe96941688979d6ae36fdc20b68a48b: - Differently from what said before, the PID gains don't need to be changed, there was a wrong implementation before that has been corrected...

@traversaro it's ok for the "develop" option, I am also leaving for conference for one week, so I will have time to keep working on it afterwards. So it's fine...

@traversaro @gabrielenava I am still interested, I just didn't have time, but I might have time in the next months to review these stuff again, if you are working on...

In the sdf format there is the possibility to specify contact and friction parameters for ode and bullet (http://sdformat.org/spec?ver=1.5&elem=collision#bullet_friction). In icub-gazebo there is only ode, however I tried to introduce...