I will check... 

Inviato da iPad

> Il giorno 26/mar/2014, alle ore 00:32, Silvio Traversaro <notifications@github.com> ha scritto:
> 
> In src/yarp_drivers/ControlBoardDriver.cpp:
> 
> > @@ -427,3 +522,19 @@ void GazeboYarpControlBoardDriver::prepareJointTorqueMsg(gazebo::msgs::JointCmd&
> >      j_cmd.mutable_velocity()->set_d_gain(0.0);
> >      j_cmd.set_force(ref);
> >  }
> > +
> > +void GazeboYarpControlBoardDriver::sendImpPositionToGazebo ( const int j, const double des )
> > +{
> > +    if(j >= 0 && j < _controlboard_number_of_joints)
> > +    {
> > +        double q = pos[j]-zero_pos[j];
> > +        double t_ref = -_impedancePosPDs[j].p * (q - des) -_impedancePosPDs[j].d * speed[j] + torq_offset[j];
> (q - des) is expressed in deg, while I am not 100% sure but I am afraid speed[j] is expressed in rad/s .
> 
> —
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