Closed nunoguedelha closed 4 years ago
test_matlab_system_19.mdl
as usual, with its default parameters. => You should observe the same ussual behavior of iCub.test_matlab_system_19.mdl
as usual, with an inverse gravity (+9.81). => You should see iCub falling upwards.Frames
list is defined in the file configRobot.m
as follows:
% Robot frames list
Frames.BASE = '<root_link_name>';
Frames.COM = '<com_name>';
Frames.LEFT_FOOT = '<l_sole_name>';
Frames.RIGHT_FOOT = '<r_sole_name>';
replacing the link frame names \<...> with the real names from the URDF. => Everything should work the same.
@Giulero , I could not update the model file MATLAB2020 version since I don't have the right app version. Could you do it for me? Basically it's just the renaming of the core block robot
to RobotDynWithContacts
.
@nunoguedelha, I updated the 2020 version (importing the new block from the library). Everything works fine!
Fixes
Make the Robot and step_block classes configuration more generic w.r.t. the robot model
Frames
in the workspace.Small interface refactoring.
tStep
withphysics_config
. Example: