Re: bug in velocity control for joint 4 in the simulator head?
Hi Celine and Thusitha,
Thank you for reporting this bug, I had a look together with Paul Fitzpatrick an we easily managed to replicate this error with a test module. In fact there was an error calculating the coupled axes. Subsequent tests confirmed the modification.
Please update the icub repository (simulator) for the corrected version.
We apologise for this oversight