Static GUI for Simulink and add gearboxes inertia (#42)

Static GUI for Simulink and add gearboxes inertia

.gitignore

@@ -23,6 +23,10 @@ CMakeLists.txt.user*
 # Simulink Code Generation
 slprj/
 
+# Simulink slx
+*.slxc
+*.slx
+
 # Matlab binary .mat files
 *.mat
 

README.md

@@ -1,14 +1,14 @@
 # whole-body-controllers
 
-A collection of Matlab/Simulink whole body controllers for humanoid robots. 
+Simulink-based whole body controllers for humanoid robots. 
 
 ## Dependencies
 
 This repository depends upon the following Software/repositories:
 
-- [Matlab/Simulink](https://it.mathworks.com/products/matlab.html), at least version **R2014a** (default: **R2017b**)
+- [Matlab/Simulink](https://it.mathworks.com/products/matlab.html), default version **R2017b**
 - [WB-Toolbox](https://github.com/robotology/WB-Toolbox)
-- [Gazebo Simulator](http://gazebosim.org/), at least version **7.8**
+- [Gazebo Simulator](http://gazebosim.org/), default version **9.0**
 - [gazebo-yarp-plugins](https://github.com/robotology/gazebo-yarp-plugins)
 - [icub-gazebo](https://github.com/robotology/icub-gazebo) and [icub-gazebo-wholebody](https://github.com/robotology-playground/icub-gazebo-wholebody) to access iCub models.
 - [codyco-modules](https://github.com/robotology/codyco-modules) (Optional, for using [home positions](https://github.com/robotology/codyco-modules/tree/master/src/modules/torqueBalancing/app/robots) and [wholeBodyDynamics](https://github.com/robotology/codyco-modules/tree/master/src/devices/wholeBodyDynamics) device).
@@ -17,6 +17,8 @@ This repository depends upon the following Software/repositories:
 
 ## Installation and usage
 
+- clone the repository on your pc by running on a terminal `git clone https://github.com/robotology/whole-body-controllers`, or dowload the repository.
+
 - set the environmental variable `YARP_ROBOT_NAME` in the `.bashrc` file to be the name of the robot you want to control. List of supported robot names:
 
   | Robot Names | Associated URDF Model |
@@ -26,7 +28,15 @@ This repository depends upon the following Software/repositories:
   | iCubGazeboV2_5 |[model.urdf](https://github.com/robotology/icub-models/blob/master/iCub/robots/iCubGazeboV2_5/model.urdf)|
   | icubGazeboSim |[model.urdf](https://github.com/robotology/yarp-wholebodyinterface/blob/master/app/robots/icubGazeboSim/model.urdf) |
 
-- if all the required dependencies are correctly installed and configured, just clone this repository on your pc. No further actions are required. An alternative is to install this repository through the `robotology-superbuild`. It is required to enable the option `ROBOTOLOGY_ENABLE_DYNAMICS`. **Important:** it is necessary to set the 
+- to use the Simulink controllers, it is required to add the [matlab-wbc](library/matlab-wbc) folder to the Matlab path. There are two different possible ways to add the folder to the path: 
+   - directly add the folder to the Matlab path;
+   - run **only once** the [startup.m](config/startup.m) script. In this case, it is required to **always** start matlab from the folder where the `pathdef.m` file is (usually `~/Documents/MATLAB`). For further information see also the [WBToolbox documentation](https://robotology.github.io/wb-toolbox/mkdocs/install/#matlab).
+
+   **Note**: to use any function inside the package [matlab-wbc/+wbc](library/matlab-wbc/+wbc), add the `wbc` prefix to the function name when the function is invoked, i.e. `[outputs] = wbc.myFunction(inputs)`. More information can be found in the [Matlab documentation](https://it.mathworks.com/help/matlab/matlab_oop/scoping-classes-with-packages.html).
+
+## Troubleshooting
+
+Please refer to the [WBToolbox troubleshooting documentation](https://robotology.github.io/wb-toolbox/mkdocs/troubleshooting/).
 
 ## Structure of the repo
 
@@ -36,46 +46,52 @@ This repository depends upon the following Software/repositories:
 
 - **doc**: guidelines on how to create/use Simulink models for control. [[README]](doc/README.md)
 
-- **legacy**: legacy version of all Simulink models in the repo, written in the lowest supported matlab version (R2014a). [[README]](legacy/README.md)
-
 - **library**: a library of functions/scripts used by the controllers. [[README]](library/README.md)
 
 - **utilities**: Simulink models for debugging sensors on the real robot. [[README]](utilities/README.md)
 
-## Automatic generation of c++ code from Simulink
+## Interesting features
 
-There is the possibility to generate c++ code from the Simulink models using [Simulink coder](https://www.mathworks.com/products/simulink-coder.html). The repositiory that contains the generated c++ code for the [momentum-based-yoga](torque-controllers/momentum-based-yoga) controller is named [autogenerated-whole-body-controllers](https://github.com/robotology-playground/autogenerated-whole-body-controllers). Documentation on how to generate the code is available in the repository [wiki](https://github.com/robotology-playground/autogenerated-whole-body-controllers/wiki/How-to-generate-code-from-a-Simulink-model).
+### Automatic generation of c++ code from Simulink
+
+There is the possibility to generate c++ code from the Simulink models using [Simulink coder](https://www.mathworks.com/products/simulink-coder.html) (**available only for the [momentum-based-yoga](torque-controllers/momentum-based-yoga)**). The repositiory that contains the generated c++ code is named [autogenerated-whole-body-controllers](https://github.com/robotology-playground/autogenerated-whole-body-controllers). Documentation on how to generate the code is available in the repository [wiki](https://github.com/robotology-playground/autogenerated-whole-body-controllers/wiki/How-to-generate-code-from-a-Simulink-model).
+
+### Static GUI for Simulink
+
+When used for controlling real platforms, heavy Simulink models may violate the user-defined simulation time step, see also [this issue](https://github.com/robotology/wb-toolbox/issues/160). It seems a source of delay is the run-time update of the Simulink interface. For this reason, a [static GUI for running the models](library/matlab-gui) has been developed. **Available only for [momentum-based-yoga](torque-controllers/momentum-based-yoga) and [momentum-based-standup](torque-controllers/momentum-based-standup)**. If you want to run Simulink with the static GUI, just run the [start{$SIM_NAME}WithoutSimulinkGui](torque-controllers/momentum-based-yoga/startYogaWithoutSimulinkGui.m) script.
 
 ## Where do I find new features and legacy repos?
 
-##### Available controllers 
+#### Available controllers 
 
 - [impedance-control](https://github.com/robotology/whole-body-controllers/tree/master/torque-controllers/impedance-control)
 - [momentum-based-standup](https://github.com/robotology/whole-body-controllers/tree/master/torque-controllers/momentum-based-standup)
 - [momentum-based-yoga](https://github.com/robotology/whole-body-controllers/tree/master/torque-controllers/momentum-based-yoga)
 - [utilities](https://github.com/robotology/whole-body-controllers/tree/master/utilities)
 
-##### Matlab functions library
+#### Matlab functions library
 
 - [matlab library](https://github.com/robotology/whole-body-controllers/tree/master/library/matlab)
 
-##### Active Forks (new features)
+#### Active Forks (new features)
 
 - [force-parametrization](https://github.com/ahmadgazar/whole-body-controllers)
 - [PhRI-standup](https://github.com/Yeshasvitvs/wholeBodyControllers)
-- [exploit friction and walking controller](https://github.com/gabrielenava/whole-body-controllers)
 
-##### Legacy
+#### Legacy
+
+Official legacy repositories are: [mex-wholebodymodel](https://github.com/robotology/mex-wholebodymodel) and [WBI-Toolbox-controllers](https://github.com/robotology-playground/WBI-Toolbox-controllers). **Note**: these legacy repos contain undocumented/outdated code, and duplicated or not tested matlab functions. They also contain original code that has been tested on the robot in the past and then never used again, or code that will be ported in the main repository in the future.
 
-- [seesaw controller and integration-based-ikin](https://github.com/gabrielenava/whole-body-controllers/tree/legacy)
-- [automatic gain tuning](https://github.com/gabrielenava/mex-wholebodymodel/tree/master/controllers/torqueBalancingGainTuning)
-- [elastic joints control](https://github.com/gabrielenava/mex-wholebodymodel/tree/master/controllers/torqueBalancing_JE)
-- Walkman control: https://github.com/gabrielenava/mex-wholebodymodel/tree/master/controllers/torqueBalancingWalkman and https://github.com/gabrielenava/WBI-Toolbox-controllers/tree/walkman
-- [joint-space control and centroidal transformation](https://github.com/gabrielenava/mex-wholebodymodel/tree/master/controllers/torqueBalancingJointControl)
+- [exploit friction and walking controller](https://github.com/robotology-playground/WBI-Toolbox-controllers/tree/whole-body-controllers-legacy/controllers/legacy)
+- [seesaw controller and integration-based-ikin](https://github.com/robotology-playground/WBI-Toolbox-controllers/tree/whole-body-controllers-legacy/controllers/legacy)
+- [automatic gain tuning](https://github.com/robotology/mex-wholebodymodel/tree/master/controllers/torqueBalancingGainTuning)
+- [elastic joints control](https://github.com/robotology/mex-wholebodymodel/tree/master/controllers/torqueBalancing_JE)
+- [walkman control](https://github.com/robotology-playground/WBI-Toolbox-controllers/tree/whole-body-controllers-legacy/controllers/legacy/torqueBalancing-walkman) and [walkman control-matlab](https://github.com/robotology/mex-wholebodymodel/tree/master/controllers/torqueBalancingWalkman)
+- [joint-space control and centroidal transformation](https://github.com/robotology/mex-wholebodymodel/tree/master/controllers/torqueBalancingJointControl)
 
 #### Associated repositories
 
-- [idyntree-high-level-wrappers](https://github.com/gabrielenava/idyntree-high-level-wrappers)
+- [matlab-multi-body-sim](https://github.com/gabrielenava/matlab-multi-body-sim)
 
 ### Mantainers
 

config/README.md

@@ -2,7 +2,9 @@
 
 A collection of scripts used for correctly configure the repo.
 
-- [export_WBC.m](export_WBC.m): run this script once. Then, digit the Matlab version in which you want to export the Simulink models. All models in the repo will be exported in that version. By default, Simulnk models in this repo are written using Matlab 2017b. **Remember: you cannot export a model in a Matlab version higher than the one you are using**! 
+- [export_WBC.m](export_WBC.m): run this script once. Then, digit the Matlab version in which you want to export the Simulink models. All models in the repo will be exported in that version. By default, Simulnk models in this repo are written using Matlab 2017b. **Remember: you cannot export a model in a Matlab version newer than the one you are using**! 
+
+- [startup.m](startup.m): run this script once. Then, the path to the `matlab-wbc` folder will be permanently added to the `pathdef.m` file, which is saved inside the Matlab `userpath`. In order to have the `matlab-wbc` folder inside the Matlab path, it is required to start Matlab from the folder where the `pathdef.m` file is (in general, `~/Documents/MATLAB`).
 
 
 

config/export_WBC.m

@@ -22,37 +22,18 @@
 fprintf('\n######################################################\n\n');
 
 % list of all simulink models (in this repo only .mdl are allowed) in the project
-mdlList    = dir('../**/*.mdl');
-
-% ignore models in the "legacy" folder (if there is any)
-cont       = 1;
-
-if exist('../legacy','dir')
-
-    for j = 1:size(mdlList,1)
-
-        parsedString = strsplit(mdlList(j).folder,'/');
-
-        if sum(strcmp(parsedString, 'legacy')) <= 0
-
-            mdlList_red(cont) = mdlList(j);  %#ok<SAGROW>
-            cont              = cont +1;
-        end
-    end
-else    
-    mdlList_red = mdlList;
-end
+mdlList     = dir('../**/*.mdl');
 
 % matlab version to which export all models
 matlabVer   = input('Specify the Matlab version to export models (format: R20XXx) ','s');
 
 %% Verify matlab version
 
-% latest version: R2017b
-matlabVer_list     = {'R2014a','R2014b','R2015a','R2015b','R2016a','R2016b','R2017a','R2017b'};
+% latest version: R2018a
+matlabVer_list     = {'R2014a','R2014b','R2015a','R2015b','R2016a','R2016b','R2017a','R2017b','R2018a'};
 
 % associated Simulink version
-simulinkVer_number = {'8.3','8.4','8.5','8.6','8.7','8.8','8.9','9.0'};
+simulinkVer_number = {'8.3','8.4','8.5','8.6','8.7','8.8','8.9','9.0','9.1'};
 
 % installed Simulink version
 currentSimulinkVer = ver('Simulink');
@@ -76,70 +57,45 @@
 
 if isempty(currentSimulinkVer)
 
-    error('Simulink not found Verify your Simulink version.');
+    error('Simulink not found. Verify your Simulink version.');
 
 elseif str2double(simulinkVer_number{matlabVer_found}) > str2double(currentSimulinkVer.Version)
 
     error('It is not possible to export models to Simulink versions higher than the one installed on your system.');
 end
 
-% ask the user if it is necessary to also create a legacy copy of the 
-% Simulink models with the oldest Matlab version
-exportLegacyVersion = input(['Would you also like to export a legacy copy of all models with Matlab ' matlabVer_list{1}, '? Y/N '],'s');
-exportInLegacy      = false;
-
-if strcmp(exportLegacyVersion,'y') || strcmp(exportLegacyVersion,'Y')
-
-    exportInLegacy = true;
-
-    if  ~exist('../legacy','dir')        
-        mkdir('../legacy');
-    end
-end
-
 %% Load the Simulink models and export to previous versions
-mdlVer_list     = {'R2014A_MDL','R2014B_MDL','R2015A_MDL','R2015B_MDL','R2016A_MDL','R2016B_MDL','R2017A_MDL','R2017B_MDL'};
+mdlVer_list = {'R2014A_MDL','R2014B_MDL','R2015A_MDL','R2015B_MDL','R2016A_MDL','R2016B_MDL','R2017A_MDL','R2017B_MDL','R2018A_MDL'};
 
 % close all open models (if there is any)
 close_system('',0)
 
-for k = 1:length(mdlList_red)
+for k = 1:length(mdlList)
 
-    fprintf(['\nLOADED MODEL: ' mdlList_red(k).name '\n']);
-    open_system([mdlList_red(k).folder,'/',mdlList_red(k).name],'loadonly');
+    fprintf(['\nLOADED MODEL: ' mdlList(k).name '\n']);
+    open_system([mdlList(k).folder,'/',mdlList(k).name],'loadonly');
 
     % save the model in a temporary copy. Then, export the copy into
     % the previous version, by overwriting the original model
     fprintf('\n saving a temporary copy of the model \n\n');
-    save_system([mdlList_red(k).folder,'/',mdlList_red(k).name], [mdlList_red(k).folder,'/',mdlList_red(k).name(1:end-4),'_temp.mdl']);
-    close_system([mdlList_red(k).folder,'/',mdlList_red(k).name],0);
-
-    open_system([mdlList_red(k).folder,'/',mdlList_red(k).name(1:end-4),'_temp.mdl'],'loadonly');
+    save_system([mdlList(k).folder,'/',mdlList(k).name], [mdlList(k).folder,'/',mdlList(k).name(1:end-4),'_temp.mdl']);
+    close_system([mdlList(k).folder,'/',mdlList(k).name],0);        
+    open_system([mdlList(k).folder,'/',mdlList(k).name(1:end-4),'_temp.mdl'],'loadonly');
 
     % do not export if simulink models are already at the required version
     if str2double(simulinkVer_number{matlabVer_found}) == str2double(currentSimulinkVer.Version)
 
        fprintf('\n model is already at the required version. \n');  
     else     
-       save_system([mdlList_red(k).folder,'/',mdlList_red(k).name(1:end-4),'_temp.mdl'], [mdlList_red(k).folder,'/',mdlList_red(k).name], 'ExportToVersion', mdlVer_list{matlabVer_found});
-    end
-
-    % save a copy in legacy folder
-    if exportInLegacy 
-
-        if str2double(simulinkVer_number{1}) == str2double(currentSimulinkVer.Version)
-            save_system([mdlList_red(k).folder,'/',mdlList_red(k).name(1:end-4),'_temp.mdl'], ['../legacy/',mdlList_red(k).name(1:end-4),'_legacy.mdl']);
-        else
-            save_system([mdlList_red(k).folder,'/',mdlList_red(k).name(1:end-4),'_temp.mdl'], ['../legacy/',mdlList_red(k).name(1:end-4),'_legacy.mdl'], 'ExportToVersion', mdlVer_list{1});
-        end
+       save_system([mdlList(k).folder,'/',mdlList(k).name(1:end-4),'_temp.mdl'], [mdlList(k).folder,'/',mdlList(k).name], 'ExportToVersion', mdlVer_list{matlabVer_found});
     end
-
+              
     % closing the temporary model
     fprintf('\n closing the model \n');
-    close_system([mdlList_red(k).folder,'/',mdlList_red(k).name(1:end-4),'_temp.mdl']);
+    close_system([mdlList(k).folder,'/',mdlList(k).name(1:end-4),'_temp.mdl']);
 
     % delete the temporary model
-    delete([mdlList_red(k).folder,'/',mdlList_red(k).name(1:end-4),'_temp.mdl'])
+    delete([mdlList(k).folder,'/',mdlList(k).name(1:end-4),'_temp.mdl'])
 end
 
-fprintf('\nDone.\n');
+fprintf('\nDone.\n');

config/startup.m

@@ -0,0 +1,79 @@
+%% startup.m
+%
+%  Run this script only once to permanently add the matlab-wbc folder to your MATLAB path. 
+
+fprintf('\n## whole-body-controllers ##\n');
+fprintf('\nAdding "matlab-wbc" to pathdef.m...\n\n');
+
+% path to whole-body-controllers
+pathToWBC = pwd;
+pathToWBC = pathToWBC(1:end-6);
+
+% path to the matlab-wbc library
+pathToLibrary = [pathToWBC, filesep, 'library/matlab-wbc'];
+
+if exist(pathToLibrary, 'dir')
+
+    addpath(pathToLibrary);
+else
+    error('Path to the "matlab-wbc" library not found or not correct.')
+end
+
+% Path to the Matlab userpath
+pathToUserpath        = userpath;
+pathSeparatorLocation = strfind(pathToUserpath, pathsep);
+
+if isempty(pathToUserpath)
+
+    answer = input('Empty userpath. Do you want to reset the userpath? Y/N ','s');
+
+    if strcmpi(answer,'Y')
+
+       userpath('reset');
+       disp('Resetting userpath..');
+       pathToUserpath        = userpath;
+       pathSeparatorLocation = strfind(pathToUserpath, pathsep);
+    else
+       error('Please set the userpath before running this script');
+    end
+
+elseif size(pathSeparatorLocation, 2) > 1
+
+    answer = input('Multiple userpath. Do you want to reset the userpath? Y/N ','s');
+
+    if strcmpi(answer,'Y')
+
+       userpath('reset');
+       disp('Resetting userpath..');
+       pathToUserpath        = userpath;
+       pathSeparatorLocation = strfind(pathToUserpath, pathsep);
+    else
+       error('Please set a single userpath before running this script');
+    end
+end
+
+% check again the userpath
+if isempty(pathToUserpath)
+
+    error('userpath is still empty. Please set the userpath before running this script');
+
+elseif size(pathSeparatorLocation, 2) > 1
+
+    error('There are still multiple userpath. Please set a single userpath before running this script');
+end
+
+if (~isempty(pathSeparatorLocation))
+
+    pathToUserpath(pathSeparatorLocation) = [];
+end
+
+fprintf('Saving paths to %s\n\n', [pathToUserpath, filesep, 'pathdef.m']);
+
+if (~savepath([pathToUserpath, filesep, 'pathdef.m']))
+
+    fprintf(['A file called pathdef.m has been created in your %s folder.\n', ...
+             'This should be enough to permanently add matlab-wbc to ', ...
+             'your MATLAB installation.\n'], pathToUserpath);
+else
+    disp('There was an error generating the pathdef.m. Please manually add the matlab-wbc folder to your matlabpath');
+end