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Ref: robotology-legacy/codyco-modules#6 (comment)

TO DO:

• Tune parameters as done in robotology-legacy/icub-gazebo-legacy@e08e5a6 with Bullet or another Physics Engine until stable contact points are obtained.

After #21 in WBI-Toolbox is finished and tested we have to port it to C++.
I think the real-robot testing of torque balancing can be postponed after this issue, so we can save some (tuning) time.

@barrelback @DanielePucci

• Describe plan for next two weeks in this issue.

cc @luca-fiorio @francesco-romano

After successful open loop simulation on the real robot we can proceed to test things on the real platform. The steps to follow are described next.

• "Fine" calibration of the robot.
• PID tuning of leg joints 0, 1, 2 and 5 mainly.
• Playback with robot in the air.
• Playback with robot on the floor.
• Further tuning (?)

Use the matlab code developed by @iron76 to perform fine calibration of the legs (in the future arm and torso also)

Subtasks :

• #13 @jeljaik
• #22 @naveenoid
• port motorFrictionIdentification in codyco-modules @traversaro
• port torqueBalancing in codyco-modules @francesco-romano

• Robot number of DOF specified at configuration time via the ResourceFinder
  • Add robots dir in yarpWholeBodyInterface's app dir with the ini file for iCubGenova03.
  • Change CMakeLists of yarpWholeBodyInterface it as in https://github.com/robotology/icub-main/blob/master/app/robots/CMakeLists.txt to install all robots available.
  • Find .ini file in the right context defined by yarpWholeBodyInterface.
• Proper abortion when initialization isn't finished correctly. (The fix worked perfectly in this branch @traversaro Thanks!!)
• icubWholeBody* => yarpWholeBody*
• wbi::LocalId => wbi::wbiId
• Write a yarpWholeBodyInterfaceTest module for the branch new_wbi_ID
  robotology-legacy/codyco-modules@aa68122
• Test COMPoseTesting works correctly.
• Stopping the simulation is not finishing correctly as it makes Matlab crash right after maxJntLimits deleted.
• Perform single tests for each block in the Toolbox:
  • jointAngles
  • jointVelocities
  • forwardKinematics
  • jacobian
  • ⚠️ set velocities
  • ⚠️ set angles
  • set torques
  • computeh
  • massMatrix
  • dJdq
  • jointAccelerations
  • jointTorques
  • inverseDynamics
  • jointLimits
  • angularMomentum
  • ⚠️ EEWrench @traversaro Please let me know when this part is ready in yarpWholeBodyInterface
  • setWorldRefFrame
  • param Forward Kinematics
  • param Jacobians
  • param dJdq
• Remove this DEBUG message: [DEBUG] yarpWholeBodyStates::getEstimates: called getEstimates ESTIMATE_JOINT_POS
• Test WBI-Toolbox with different robots, e.g. COMAN, iCubHeidelberg01
  • The variable ROBOT_DOF is necessary also outside the c++ code, i.e. in
    the MATLAB environment for those blocks that have null inputs at the most inner level. The config file for each robot must be read somehow by MATLAB as well... 😩 For now let the user specify ROBOT_DOF from command line, along with robotName, Ts and localName
  • Change all blocks of the toolbox so that they use the MATLAB variable ROBOT_DOF.
  • Get COMPoseTest working with iCubHeidelberg01 @traversaro yayyy!! 😀
  • Get COMPoseTest working with COMAN
    • Write configuration file for COMAN
• Change the logic of the MATLAB variables needed for simulation: robotName, 'localName' and 'Ts'. From now on, robotName should correspond to the usual robot name variable in iCub modules, i.e. either icub or icubGazeboSim, while localName is the prefix of the ports opened by the WBI. robotology-playground/WBI-Toolbox@78b9608
  Besides this change, remember that the robotName and localName input by the user from MATLAB's command line overwrites the default ones from configuration file.
• Update all blocks from the toolbox to take into account ROBOT_DOF robotology-playground/WBI-Toolbox@78b9608
• Update README.md with migration instructions. https://github.com/robotology-playground/WBI-Toolbox/blob/new_wbi_ID/README.md
• Test yarpWholeBodyInterfaceIcubTest with COMAN
• ⚠️ Get WBI-Toolbox working with the double pendulum model.

Pending Improvementes

• ⚠️ Test Torque Balancing Demo with the WBI-Toolbox in branch new_wbi_ID
• ⚠️ Make interface configuration happen only once by the first block that attempts to do so.
• ⚠️ Parse configuration files in MATLAB to create list of possible links from param jacobians, etc.
• ⚠️ Perform properly block input size checking. e.g. If input to a block does not have the proper size, Matlab is simply crashing with a hard to diagnose error message.

• Load robot model using mex-wholeBodyModel.
• Load walking parameters from configuration file.
• Gait planner (simple version) for straight line walking.
• Gait planner (still simple version) for walking along an arbitrary trajectory. #15
• Preview controller and inverse kinematics.
• Joint trajectories playback.

The block ySynchronizer in the WBI-Toolbox is in charge of controlling the simulation time of Gazebo given a desired simulation period.

Copy of robotology-legacy/mex-wholebodymodel#7.