whole body controllers documentation

In order to avoid duplicating documentation, please refer to this list of OFFICIAL documentation:

WBC installation and usage:

• follow the repository README

How to run simulations and experiments

• How-to-run-controllers-with-gazebo-simulator
• How-to-run-controllers-on-real-iCub
• How-to-setup-iCub-for-wbc-experiments
• static GUI instructions

Specific controllers description:

• fixed-base-joints-torque-control
• floating-base-balancing-position-control
• floating-base-balancing-torque-control
• floating-base-jerk-control
• simulink-balancing-simulator

Troubleshooting (installation issues):

• issue detailing better the ways to add the required paths to Matlab:
  • https://github.com/robotology/whole-body-controllers/issues/68

Troubleshooting (Matlab issues):

• refer to the WBToolbox troubleshooting documentation
• issues documenting specific Matlab bugs:
  • https://github.com/robotology/whole-body-controllers/issues/65
  • https://github.com/robotology/whole-body-controllers/issues/59
  • https://github.com/robotology/whole-body-controllers/issues/67
  • https://github.com/robotology/whole-body-controllers/issues/93

Troubleshooting (control issues):

• in case of a failure of the Yoga demo, here are the list of parameters that may help to fix it. Try to modify the value of these parameters:
  • high frequency vibrations: lower the CoM and/or joints gains;
  • failure while switching contacts: edit the CoM delta
  • robot not switching: change the On/Off contact forces threshold.