Switch controlboard plugins to set velocityControlImplementationType to integrator_and_position_pid

robotology / icub-models

Official URDF and SDF models of the iCub humanoid robot.

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Switch controlboard plugins to set velocityControlImplementationType to integrator_and_position_pid #48

Closed traversaro closed 4 years ago

traversaro commented 4 years ago

This change is ignored for versions of gazebo-yarp-plugins <= 3.5.0, but for version of gazebo-yarp-plugins > 3.5.0 it aligns the behavior of the VOCAB_CM_VELOCITY control mode with the one of the real iCub robot.

This PR only handles the manually managed configuration files, while the one automatically generated will be handled by https://github.com/robotology/icub-model-generator/pull/138 .

Related issues:

robotology/gazebo-yarp-plugins#514
robotology/gazebo-yarp-plugins#240

traversaro commented 4 years ago

Automatic models updated with https://github.com/robotology/icub-models/commit/0b46534de8b1c7e4d7c7c6affb17d24d3eab01a8, and the manual models with this PR.