In this commit a test simulink model shows matching torques between gazebo and those computed with inverse dynamics
all dynamics blocks are now parametric. When the position of the base is not passed to the block, it will make the computations inside. Still, base velocity and accelerations must be passed to the corresponding blocks.
Joint limits added
adding new block for angular momentum
Many warnings removed and updated parametric blocks plus the addition of compute angular momentum
added TODO
Fix bug in monitor variables and reintroduce impedance control and sinusoidal reference
Modified wholeBodyDynamics blocks
commits for proper merge
Merge remote-tracking branch 'origin/rovereto' into simulink/paramInvDyn_forReal
some debuggin and ICUB_FIXED set by default
Merge remote-tracking branch 'origin/rovereto' into simulink/paramInvDyn_forReal
Commits for merging with Rovereto
Wrongly merged before
Checked out wrong version of the library from Rovereto
controller updated with new blocks and WBCLibrary lined up with Rovereto's
small mods in controller
Merge branch 'rovereto' into simulink/paramInvDyn_forReal
Controller with parametric dynamics blocks tested
The default trajectory of the COM in this commit is a sinusoidal of low amplitude