Integrate the YOGA++ (floating-base-balancing-torque-control) with the matlab-whole-body-simulator#122

Merged

nunoguedelha merged 20 commits intodevelfrom feature/replace-gazebo-by-matlab-simulator

May 10, 2021

+26,896

Commits on Apr 27, 2021

Create floating-base-balancing-torque-control-with-simulator as a duplicate of floating-base-balancing-torque-control
nunoguedelha
committed
Replaced Gazebo target by the matlab simulator library blocks
nunoguedelha
committed

Commits on Apr 28, 2021

Main fixes for compiling the model, having the simulator running at 1kHz and the controller at 100Hz
nunoguedelha
committed

Commits on Apr 29, 2021

Fixed sampling rate transitions between sub-systems and treat "MOMENTUM_BASED_TORQUE_CONTROL" as atomic unit.
nunoguedelha
committed

Commits on May 2, 2021

Commits on May 6, 2021

Cleanup the whole model (debug blocks, extra logging) and activate YOGA left foot only
nunoguedelha
committed

Commits on May 7, 2021