This tutorial contains a controller example which exploits WB-Toolbox.

It implements a PD plus gravity compensation (which in its nature is quite generic), but references are targeted to the iCub robot.

Running the example

1. Open Matlab, browse the directory containing this repository, open the impedance_control.mdl file.
2. Execute yarpserver
3. Open gazebo -s libgazebo_yarp_clock.so and drop the iCubGazeboV2_5 fixed model.
4. On Simulink, press Play.

The controller is now launched and the robot get controlled in torque for all the time the controller is running.

Troubleshooting

If you face any problem, have a look at this README.md file.