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As far as I know, the iCub wbi is still lacking the estimation of the position and velocity of the base of the robot. A common approach is to use an Extended Kalman Filter that exploits the IMU and th…
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We have to prepare a cleanup of the dynamicsRegressorsGenerator cleanup, to enable wrapping it with SWIG.
Key points:
- [x] Eliminate KDL dependency (initially just from headers, pimpling the actual …
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See https://travis-ci.org/robotology/codyco-superbuild/jobs/82131783
```
==> Installing homebrew/x11/yarp
==> Cloning https://github.com/robotology/yarp.git
Cloning into '/Library/Caches/Homebrew/yar…
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On the `iCubGenova01` setup, we notice that wholeBodyDynamicsTree was unusually CPU-intensive, after a quick debug we realized that 3 threads where actually saturating a core each:
```
top - 10:09:17…
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I am trying to find out the contact points between iCub's feet and the ground and also the contact forces.
When I put an iCub model in Gazebo and type
`gz topic -e /gazebo/default/physics/contacts`
in…
azadm updated
9 years ago
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Hi @robotology/all-robotology-developers,
On `November 27` we are going to run our **IFI Day 4** event.
**IFI** stands for **`I-Fix-the-Issues`** and with that we aim to collect long-standing issue…
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In current wholeBodyInterface documentation a clear indication of the units of measurement of the physical quantities is missing. From the implementation I guess that we use SI units for every interfa…
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For solving the inverse geometric problem for the legs for codyco second year demo, the easy way is the following:
- A custom `cartesianSolver` can easily spawned for both the single leg and the chai…
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Here is the error that I get when I build codyco-superbuild on OSX:
```
** BUILD FAILED **
The following build commands failed:
Ld /Users/azadm/Documents/codyco-superbuild/build/main/codyco-mod…
azadm updated
9 years ago
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# wholeBodyDynamicsTree
This issue is an informal blueprint for the architecture of the new wholeBodyDynamics module, which will substitute the iDyn-based [wholeBodyDynamics](http://wiki.icub.org/iCu…