We need to do some preliminary tests to try the functions that I wrote (mainly stochastic inverse dynamics, sID.m and nID.m) on a complex system such as the whole-body iCub. In order to do the easiest way is to parse the iCub URDF to get a Matlab model, in the format used in Featherstone toolbox.
We need to do some preliminary tests to try the functions that I wrote (mainly stochastic inverse dynamics, sID.m and nID.m) on a complex system such as the whole-body iCub. In order to do the easiest way is to parse the iCub URDF to get a Matlab model, in the format used in Featherstone toolbox.