Implement `IVelocityControl` control mode in controlboard plugin - Githubissues

robotology / gz-sim-yarp-plugins

YARP plugins for Modern Gazebo (gz-sim).

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Implement `IVelocityControl` control mode in controlboard plugin #144

Open xela-95 opened 3 months ago

xela-95 commented 3 months ago

See https://www.yarp.it/latest/classyarp_1_1dev_1_1IVelocityControl.html

traversaro commented 3 months ago

I guess no active use case from AMI is doing this. However this is necessary to properly simulate iCub's eyes and the iCub's Gaze controller (https://robotology.github.io/robotology-documentation/doc/html/icub_gaze_interface.html), that uses the so-called position-velocity mixed mode, see the VOCAB_CM_MIXED mode in https://github.com/robotology/icub-main/blob/4595c48eb71a0ce64d61ea309bea329fb0c8bff7/src/modules/iKinGazeCtrl/src/controller.cpp#L576 .