Improve the visualization and data collection

[gabrielenava]

Currently, the Simulink controllers are endowed with a Visualization block (see pictures), that contains several Scopes allowing the user to visualize several control-related quantities (center of mass position, joint torques, ...). It is also possible to dump all these plots in the Matlab workspace and save them in a file.

However, there are a couple of limitations:

• The visualization of joints-related quantities (joint positions, velocities, torques, ...) relies on the DoFs Converter block from WBToolbox. This block is the only reason why, in order to compile the Simulink model, it is required to be able to connect with the robot. Also the block is currently not working fine: instead of dividing the input vector in sub-vectors according to the number of controlboards (right arm, left leg, ...), it creates a set of vectors with the same length of the input, whose values are zeros but the ones corresponding to the elements of the input vector that belong to each sub-part of the robot. It would be nice to remove this block from WBToolbox and implement something directly in Simulink instead.

• There is no an automatic way to plot the data saved on the workspace. @ahmadgazar did something for this: ahmadgazar@94886ca

cc @diegoferigo

[gabrielenava]

The DoFs Converter block has been removed in the new WBToolbox 4. Here is the associated commit in whole-body-controllers: 6605888

Closing the issue as the data collection problem is also addressed in this other issue: #20