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README.md

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README

Structure of the repository:

  • matlab
  • simulink

##matlab## Contains all the .m files: utility functions (quaternion, skew-symmetric matrices, etc) and the main.m file needed to simulate the system using one of the ODE MATLAB integrator.

##simulink## Contains the simulink diagram and the initialization file. The initialization file automatically adds the matlab folder to the path (because it uses some functions)

##How to test it## Open gazebo. Pause the simulation. Add the iCub on seesaw model. Play the controller