{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/yarp/issues/176","labels_url":"https://api.github.com/repos/robotology/yarp/issues/176/labels{/name}","comments_url":"https://api.github.com/repos/robotology/yarp/issues/176/comments","events_url":"https://api.github.com/repos/robotology/yarp/issues/176/events","html_url":"https://github.com/robotology/yarp/issues/176","id":33013010,"number":176,"title":"ITorqueControl2","user":{"login":"francesco-romano","id":2189180,"avatar_url":"https://avatars.githubusercontent.com/u/2189180?v=3","gravatar_id":"","url":"https://api.github.com/users/francesco-romano","html_url":"https://github.com/francesco-romano","followers_url":"https://api.github.com/users/francesco-romano/followers","following_url":"https://api.github.com/users/francesco-romano/following{/other_user}","gists_url":"https://api.github.com/users/francesco-romano/gists{/gist_id}","starred_url":"https://api.github.com/users/francesco-romano/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/francesco-romano/subscriptions","organizations_url":"https://api.github.com/users/francesco-romano/orgs","repos_url":"https://api.github.com/users/francesco-romano/repos","events_url":"https://api.github.com/users/francesco-romano/events{/privacy}","received_events_url":"https://api.github.com/users/francesco-romano/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/robotology/yarp/labels/Component:%20YARP_dev","name":"Component: YARP_dev","color":"207de5"}],"state":"open","locked":false,"assignee":{"login":"randaz81","id":2869969,"avatar_url":"https://avatars.githubusercontent.com/u/2869969?v=3","gravatar_id":"","url":"https://api.github.com/users/randaz81","html_url":"https://github.com/randaz81","followers_url":"https://api.github.com/users/randaz81/followers","following_url":"https://api.github.com/users/randaz81/following{/other_user}","gists_url":"https://api.github.com/users/randaz81/gists{/gist_id}","starred_url":"https://api.github.com/users/randaz81/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/randaz81/subscriptions","organizations_url":"https://api.github.com/users/randaz81/orgs","repos_url":"https://api.github.com/users/randaz81/repos","events_url":"https://api.github.com/users/randaz81/events{/privacy}","received_events_url":"https://api.github.com/users/randaz81/received_events","type":"User","site_admin":false},"milestone":null,"comments":12,"created_at":"2014-05-07T18:46:24Z","updated_at":"2015-06-26T12:30:47Z","closed_at":null,"body":"I think we need an implementation of a version of `ITorqueControl` which can communicate using streaming ports and which implements the `setRefTorques` version with joint list (the equivalent of `IPositionControl2` and `IVelocityControl2`)\r\n\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/robotology/yarp/issues/comments/115661020","html_url":"https://github.com/robotology/yarp/issues/176#issuecomment-115661020","issue_url":"https://api.github.com/repos/robotology/yarp/issues/176","id":115661020,"user":{"login":"barbalberto","id":4061020,"avatar_url":"https://avatars.githubusercontent.com/u/4061020?v=3","gravatar_id":"","url":"https://api.github.com/users/barbalberto","html_url":"https://github.com/barbalberto","followers_url":"https://api.github.com/users/barbalberto/followers","following_url":"https://api.github.com/users/barbalberto/following{/other_user}","gists_url":"https://api.github.com/users/barbalberto/gists{/gist_id}","starred_url":"https://api.github.com/users/barbalberto/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/barbalberto/subscriptions","organizations_url":"https://api.github.com/users/barbalberto/orgs","repos_url":"https://api.github.com/users/barbalberto/repos","events_url":"https://api.github.com/users/barbalberto/events{/privacy}","received_events_url":"https://api.github.com/users/barbalberto/received_events","type":"User","site_admin":false},"created_at":"2015-06-26T12:30:47Z","updated_at":"2015-06-26T12:30:47Z","body":"Upon request from @randaz81 I implemented the group version of setRefTorque.\r\nIn order to not create a new interface for just a single command, the new function was implemented not as a pure virtual call but with a default {return false} implementation, which allows to keep back compatibility.\r\n\r\nIs it ok for everybody? The update is in the 'setRefTorque_group' branch for both yarp and iCub. No source version number has been changed, nor protocol version numbber. Shall I upgrade it?\r\n\r\nThe function has been implemented in eth, can & icubSim motion controllers (as well as in remoteControlBoard and the wrapper of course).\r\nGazebo, coman, walkman and robotran are not updated yet."}}