Reflect matlab-whole-body-simulator#49 (removal of dependency from +wbc)

robotology / whole-body-controllers

Simulink-based whole body controllers for humanoid robots.

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Reflect matlab-whole-body-simulator#49 (removal of dependency from +wbc) #128

Closed nunoguedelha closed 3 years ago

nunoguedelha commented 3 years ago

The changes are:

Update model floatingBaseBalancingTorqueControlWithSimulator w.r.t. the PR https://github.com/dic-iit/matlab-whole-body-simulator/pull/49 (remove dependency from +wbc)
Update model floatingBaseBalancingTorqueControlWithSimulator w.r.t. the PR https://github.com/robotology/wb-toolbox/pull/211 :
- Restore the link of the 'holder' blocks in the controller model to the WBToolbox (utilities) library -> after the new holder implementation was (https://github.com/robotology/wb-toolbox/pull/211).
- Remove the 'holder' block (not required anymore) from the 'utilityBlocks_lib.slx' library.

nunoguedelha commented 3 years ago

CC @traversaro @CarlottaSartore

nunoguedelha commented 3 years ago

It makes sense to ad also @Giulero as a reviewer since he's already testing the controllers used on ironCub against the replacement of the "Holder" blocks.

nunoguedelha commented 3 years ago

This branch will need to be rebased on top of devel but it's a trivial one.

Giulero commented 3 years ago

@nunoguedelha I tested the torqueControlBalancingWithSimu.mdl model and everything went ok. Do you want me to do other tests?

nunoguedelha commented 3 years ago

@nunoguedelha I tested the torqueControlBalancingWithSimu.mdl model and everything went ok. Do you want me to do other tests?

Great @Giulero , regarding the tests it's enough. Thanks!

nunoguedelha commented 3 years ago

Merged. CC @gabrielenava