Gabriele Nava

Uniformed style of the WBC library.

Given the recent revival of whole body controllers by @DanielePucci, I thought it was worth to spend some time for a small cleanup/update of the repo. We can release this...

Controllers to be updated and tested: - [x] https://github.com/robotology/whole-body-controllers/tree/master/controllers/simulink-balancing-simulator - [ ] https://github.com/robotology/whole-body-controllers/tree/master/controllers/floating-base-jerk-control - [ ] https://github.com/robotology/whole-body-controllers/tree/master/controllers/floating-base-balancing-torque-control - [ ] https://github.com/robotology/whole-body-controllers/tree/master/controllers/floating-base-balancing-position-control - [ ] https://github.com/robotology/whole-body-controllers/tree/master/controllers/fixed-base-joints-torque-control - [ ] https://github.com/robotology/whole-body-controllers/tree/master/controllers/%2BfloatingBaseBalancingTorqueControlWithSimulator I...

Question about additional wrapper group in simulated IMU configuration

1

The old (MK1) iRonCub models still use a configuration file for the simulated IMU in Gazebo of this form: ``` [include "gazebo_icub_robotname.ini"] [WRAPPER] device multipleanalogsensorsserver name /${gazeboYarpPluginsRobotName}/head/inertials period 10 [ADDITIONAL_WRAPPER]...

### Robot Name 🤖 iCubGenova09 (iRonCub3) S/N:000 ### Request/Failure description The chest IMU cable got pulled right before the connector, and the IMU does not start anymore. ### Detailed context...

iCubGenova09 (iRonCub3) S/N:000 – Unable to read the data coming from the BMS/BAT

5

### Robot Name 🤖 iCubGenova09 (iRonCub3) S/N:000 ### Request/Failure description See a similar issue on Ergocub https://github.com/robotology/icub-tech-support/issues/1715 ### Detailed context Following [this comment](https://github.com/robotology/icub-tech-support/issues/1715#issuecomment-1901937104) in a similar issue for Ergocub (https://github.com/robotology/icub-tech-support/issues/1715):...

iCubGenova09 (iRonCub3) S/N:000 – Fault button broken

1

### Robot Name 🤖 iCubGenova09 (iRonCub3) S/N:000 ### Request/Failure description The robot fault button does not work anymore ### Detailed context I was trying to start the robot, but it...

### Robot Name 🤖 iCubGenova04 (iRonCub1) S/N:031 ### Request/Failure description While at a demo, the xsens imu stopped working and it was not possible to start the robot with the...

iCubGenova04 (iRonCub1) S/N:031 – The battery charger of the lifting device of the robot is not working anymore

2

### Robot Name 🤖 iCubGenova04 (iRonCub1) S/N:031 ### Request/Failure description the lifting device assigned to the robot run out of battery. The battery charger is broken, the light does not...

iCubGenova04 (iRonCub1) S/N:031: problem with right leg ankle board

4

### Device name 🤖 iRonCub1 - iCubGenova04 ### Request/Failure description The robot does not start, in the yarprobotinterface there is this error: ``` [ERROR] from BOARD 10.0.1.9 (right_leg-eb9-j4_5), src LOCAL,...