Create model integrating the YOGA++ controller with the dynamics with contacts simulator from matlab-whole-body-simulator

[traversaro]

We wish to implement a Simulink model which controls a humanoid robot (iCub) performs a dynamic trajectory while balancing: the YOGA++. For that purpose, the model would integrate the YOGA++ controller with the whole-body simulator from matlab-whole-body-simulator.

[nunoguedelha]

As described in https://github.com/dic-iit/element_software-engineering/issues/24, this consists in replacing the Gazebo target by the library blocks "RobotDynWithContacts", "IMU" and "robot visualizer" from matlab-whole-body-simulator:

• "RobotDynWithContacts" simulates the robot dynamics, handling the contacts of the feet with the ground. This block provides, among other outputs, those required by the controller:
  • joint positions
  • joint velocities
  • joint accelerations
  • left foot wrench
  • right foot wrench
• "IMU" emulates the sensor outputs from the floating base state and linear acceleration provided by "RobotDynWithContacts".
• "robot visualizer" allows to visualize the robot (this avoids using Gazebo as a visualizer, thus being a more efficient approach).

[nunoguedelha]

@traversaro , I've updated #32 (comment) according to what we agreed in the meeting. Moving now the issue (manually) to whole-body-controllers.

[nunoguedelha]

Moved the issue to robotology/whole-body-controllers#121. Closing this one.