From bccc5ac031af849a380376285897a4eea87efcf6 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Wed, 9 Oct 2019 11:41:34 +0200
Subject: [PATCH] Fix README.md

---
 README.md | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/README.md b/README.md
index 981cc3c..b528f26 100644
--- a/README.md
+++ b/README.md
@@ -22,7 +22,7 @@ To start the flexibilities:
 roslaunch talos_data talos_gazebo.launch enable_leg_passive:=true
 ```
 
-You should see in the robot model two new joints:
+You should see in the robot model two new links:
 ```
 leg_left_1_link_passive
 leg_right_1_link_passive
@@ -57,9 +57,9 @@ You can create new joints by expanding the robot kinematic tree
 and adding the same lines in the xacro files.
 
 The spring constants are modified by the associated fields
-*kp* and *kd*
+*kp* and *kd*.
 The name of the joint to which this apply is specified by the field
-*joint_spring*
+*joint_spring*.
 
 The plugin is generating a torque based on the actuator state using:
 $$\tau = - kp q - kd \dot{q}$$ where $q$ is the actuator position and $\dot{q}$
@@ -67,7 +67,7 @@ is the actuator velocity.
 
 This might be changed in the future to cope with a different equilibrium point.
 
-Finally to have the state of the joint you need to add the following lines:
+Finally to have the state of the joint in the topic */joint_states* you need to add the following lines:
 ```
     <transmission name="leg_${prefix}_1_passive_trans">
       <type>transmission_interface/SimpleTransmission</type>
-- 
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