ROS-Gazebo plugin for simulate the elastic bheavior of the qbmove actuators in Gazebo. For those not familiar with these actuators, in brief, the qbMove is a compliant actuator with varible stiffness, based on the agonistic-antagonistic principle presented in Catalano M. et. al., developed by qbRobotics.
The plugin supposes to be able to control the motor position references of the real qbmoves. _I'm planning to include the motor dynamics as well, from which test torque controllers, developping another complementary plugin._ROS-Gazebo plugin for simulate the elastic bheavior of the qbmove actuators in Gazebo.
Please refer to the following link for the download of the package. link