Silvio Traversaro

Document how to use the models in tutorial/model

1

The repo contains several example model that use the gazebo-yarp-plugins in https://github.com/robotology/gazebo-yarp-plugins/tree/master/tutorial/model , but there is no documentation describing how to use them. A piece of documentation describing how to...

Resetting a YARP controlboad to a different joint configuration

4

@lothas commented on [Fri Mar 02 2018](https://github.com/robotology/yarp/issues/1571) I wrote a gazebo plugin a while ago to reset the simulation and reset my model to a desired position and/or joint configuration....

See http://www.yarp.it/group__dev__iface__multiple__analog.html and https://github.com/robotology/yarp/issues/1526 .

See http://www.yarp.it/group__dev__iface__multiple__analog.html and https://github.com/robotology/yarp/issues/1526 .

[clock] Make gazebo_yarp_clock use a `/clock` topic instead of `/clock` port`

8

@paulfitz originally mentioned in https://github.com/robotology/gazebo-yarp-plugins/issues/57#issuecomment-34840987 that `/clock` should be a topic and not a port. I implemented the necessary code months ago in https://github.com/robotology/gazebo-yarp-plugins/tree/clockTopic, but no one of the people...

Controlboard not robust against NaN torques

1

If the controlboard receives a NaN torque, the simulation explodes.

SEA joints simulation using gazebo-yarp-plugins

29

Currently yarp motor interfaces are used in robot equipped with SEA (Series Elastic Joints) to get "motor" encoder readings using the [`iMotorEncoders`](http://wiki.icub.org/yarpdoc/classyarp_1_1dev_1_1IMotorEncoders.html) interface, as opposed to the [`IEncoders`](http://wiki.icub.org/yarpdoc/classyarp_1_1dev_1_1IEncoders.html) interface that...

In https://github.com/robotology/gazebo-yarp-plugins/pull/304 , @nunoguedelha contributed a plugin to simulate distributed inertials as the one that can be found on the iCub robot that mount an ETH electronics with MTB board...

Currently the documentation for gazebo-yarp-plugins is scattered across several pages and papers. We should produce a consistent documentation for the end-users, similar (for example) to the one available for the...

[controlboard] checkMotionDone seems to be broken

2

The iCub gazebo model is not passing the test in https://github.com/robotology/icub-tests/tree/master/src/motor-tests .