Gabriele Nava

Implement the derivative of inverse dynamics

1

Given a floating base system subject to a set of rigid constraints: \begin{equation} M \dot{\nu} + h = B\tau + J_c^\top f \\\\ J_c \dot{\nu} + \dot{J}_c \nu = 0...

Add runtime plot of simulink variables

1

@Yeshasvitvs suggested a possible workflow in order to be able to see run time plots with Simulink. The idea is to stream the Simulink data in a `yarp port`, and...

Migrate the friction exploitation control in whole-body-controllers

1

The issue is a remainder of the activity @nunoguedelha is carrying on. Given his recent results with the current control framework, it would be nice to have the `whole-body` friction...

I think a simple GitHub action could at least verify that: - there are no problems in compiling the repository, even if `compiling` at the moment (release `2.5`) simply means...

Update documentation for next release

1

Here are some advices (see also https://github.com/robotology/whole-body-controllers/issues/55#issuecomment-453454680): >Possible notes: >- describe briefly the theory behind each controller (math + diagrams) and add reference for detailed description >Possible advice: > -...

Improve the Simulink-balancing-simulator

4

The new `2.5` release of WBC now also officially supports an internal simulator for balancing: https://github.com/robotology/whole-body-controllers/blob/master/controllers/simulink-balancing-simulator/README.md. The simulator can be improved as follows: - the control subsystem and the `dynamics...

Follows #130 At the moment we have 3 different functions for checking encoder spikes: - [checkSpikes](https://github.com/robotology/whole-body-controllers/blob/master/library/matlab-wbc/%2Bwbc/checkSpikes.m) already deprecated as explained in the function itself: ```[matlab] disp('WARNING: checkSpikes is deprecated and...

Import functions and remove deprecated in the WBC library

2

There are some functions that are sparse in the `dic-iit` github organization and that can be collected inside the library. This issue is for keep trace of the new functions...

Failure when two QP blocks - one with inequalities and the other not - are used in the same model

11

- [x] I already updated to the latest version I can use - [x] I already checked similar issues using the search box - [x] I already checked the website...

Adding a very simple github action to test the installation of the repo. It does not do much, but can be used as a prototype for future, more complex tests...