From a1bfe3473a8dfad82c12aabd599d08227b098469 Mon Sep 17 00:00:00 2001 From: icub24 Date: Mon, 24 Sep 2018 18:29:57 +0200 Subject: [PATCH] final working version on iCubGenova02 --- .../app/robots/iCubGenova02/initCoordinator.m | 18 +- .../iCubGenova02/initStateMachineYoga.m | 15 +- .../src/stateMachineYoga.m | 12 +- .../torqueBalancingYoga.mdl | 351 ++++++++++++++++-- 4 files changed, 352 insertions(+), 44 deletions(-) diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initCoordinator.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initCoordinator.m index 11b0d8d..b9f688a 100644 --- a/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initCoordinator.m +++ b/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initCoordinator.m @@ -151,7 +151,10 @@ %% State machine parameters % smoothing time for joints and CoM -Sm.smoothingTimeCoM_Joints = 3; +Sm.smoothingTimeCoM_Joints = 3; + +% scale factor smoothing time (YOGA DEMO ONLY) +Sm.scaleFactorSmoothingTime = 0.9; % time between two yoga positions (YOGA DEMO ONLY) Sm.joints_pauseBetweenYogaMoves = 0; @@ -172,9 +175,11 @@ Sm.CoM_delta = [0; 0; 0]; % joint references (YOGA DEMO ONLY) -Sm.joints_references = zeros(1,ROBOT_DOF); -Sm.joints_leftYogaRef = zeros(1,ROBOT_DOF+1); -Sm.joints_rightYogaRef = zeros(1,ROBOT_DOF+1); +Sm.joints_references = zeros(1,ROBOT_DOF); +Sm.joints_leftYogaRef = zeros(1,ROBOT_DOF+1); +Sm.joints_rightYogaRef = zeros(1,ROBOT_DOF+1); +Sm.joints_leftSecondYogaRef = zeros(1,ROBOT_DOF+1); +Sm.joints_rightSecondYogaRef = zeros(1,ROBOT_DOF+1); % configuration parameters for state machine (YOGA DEMO ONLY) Sm.tBalancing = 1; @@ -184,6 +189,11 @@ Sm.demoStartsOnRightSupport = false; Sm.yogaAlsoOnRightFoot = false; Sm.yogaInLoop = false; +Sm.repeatYogaMoveset = false; + +% smoothing time for the second time the Yoga moveset are performed (YOGA DEMO ONLY) +Sm.smoothingTimeSecondYogaLeft = 1; +Sm.smoothingTimeSecondYogaRight = 1; %% Constraints for QP for balancing diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initStateMachineYoga.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initStateMachineYoga.m index 112782e..d38b11b 100644 --- a/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initStateMachineYoga.m +++ b/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initStateMachineYoga.m @@ -74,11 +74,10 @@ Gain.impedances(10,18:23) = Gain.impedances(10,18:23)*1.5; Gain.impedances(10,1:3) = Gain.impedances(10,1:3)*2; - Gain.impedances(4,12:17) = Gain.impedances(4,12:17)*1.5; Gain.impedances(4,1:3) = Gain.impedances(4,1:3)*2; - -Gain.impedances(7,2:3) = Gain.impedances(7,2:3)*1.5; +Gain.impedances(4,4:11) = Gain.impedances(4,4:11)*1.5; +Gain.impedances(7,2:3) = Gain.impedances(7,2:3)*1.5; Gain.dampings = 0*2*sqrt(Gain.impedances(1,:))/40; @@ -102,6 +101,12 @@ 5; %% state == 12 LOOKING FOR CONTACT 10]; %% state == 13 TRANSITION INIT POSITION +% scale factor smoothing time multiplies the smoothing factor during the +% Yoga (state 4 and 10). The purpose is to reduce the time necessary for +% the reference to converge to the next position, but without changing also +% the valuse stored in Sm.joints_leftYogaRef/Sm.joints_rightYogaRef (YOGA DEMO ONLY) +Sm.scaleFactorSmoothingTime = 0.9; + % time between two yoga positions (YOGA DEMO ONLY) Sm.joints_pauseBetweenYogaMoves = 5; @@ -125,7 +130,7 @@ 0.0, 0.005, 0.0; %% state == 3 LEFT FOOT BALANCING 0.0, 0.005, 0.0; %% state == 4 YOGA LEFT FOOT 0.0, 0.00, 0.0; %% state == 5 PREPARING FOR SWITCHING - 0.02,-0.09, 0.0; %% state == 6 LOOKING FOR CONTACT + 0.02,-0.08, 0.0; %% state == 6 LOOKING FOR CONTACT 0.0, 0.00, 0.0; %% NOT USED % THIS REFERENCE IS USED AS A DELTA W.R.T. THE POSITION OF THE RIGHT FOOT 0.0, 0.00, 0.0; %% state == 8 COM TRANSITION TO RIGHT FOOT @@ -146,7 +151,7 @@ Sm.yogaInLoop = false; % repeat the yoga movements faster. Uneffective if Sm.yogaExtended = false; -Sm.repeatYogaMoveset = true; +Sm.repeatYogaMoveset = false; % smoothing time for the second time the Yoga moveset are performed Sm.smoothingTimeSecondYogaLeft = 0.6; diff --git a/torque-controllers/momentum-based-yoga/src/stateMachineYoga.m b/torque-controllers/momentum-based-yoga/src/stateMachineYoga.m index 47ece9c..be4607a 100644 --- a/torque-controllers/momentum-based-yoga/src/stateMachineYoga.m +++ b/torque-controllers/momentum-based-yoga/src/stateMachineYoga.m @@ -414,8 +414,16 @@ elseif secondYoga && state == 10 && t >= (Sm.joints_rightSecondYogaRef(2) + tSwitch) jointsSmoothingTime = Sm.smoothingTimeSecondYogaRight; - else - jointsSmoothingTime = Sm.smoothingTimeCoM_Joints(state); + else + + if state == 4 || state == 10 + + % during the yoga, reduce the time necessary for the reference + % to converge to the next position + jointsSmoothingTime = Sm.scaleFactorSmoothingTime*Sm.smoothingTimeCoM_Joints(state); + else + jointsSmoothingTime = Sm.smoothingTimeCoM_Joints(state); + end end end diff --git a/torque-controllers/momentum-based-yoga/torqueBalancingYoga.mdl b/torque-controllers/momentum-based-yoga/torqueBalancingYoga.mdl index bde9642..fc3b88b 100644 --- a/torque-controllers/momentum-based-yoga/torqueBalancingYoga.mdl +++ b/torque-controllers/momentum-based-yoga/torqueBalancingYoga.mdl @@ -6,7 +6,7 @@ Model { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" - ComputedModelVersion "1.3285" + ComputedModelVersion "1.3288" NumModelReferences 0 NumTestPointedSignals 0 NumProvidedFunctions 0 @@ -20,7 +20,7 @@ Model { LogicAnalyzerPlugin "on" LogicAnalyzerSignalOrdering "" DiagnosticSuppressor "on" - SuppressorTable "22 serialization::archive 11 0 6 0 0 0 11 0" + SuppressorTable "22 serialization::archive 11 0 3 0 0 0 11 0" ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off @@ -42,7 +42,7 @@ Model { $ObjectID 2 $ClassName "Simulink.WindowInfo" IsActive [1] - Location [65.0, 24.0, 2495.0, 1416.0] + Location [65.0, 24.0, 1855.0, 1056.0] Object { $PropName "ModelBrowserInfo" $ObjectID 3 @@ -64,11 +64,11 @@ Model { $ObjectID 5 $ClassName "Simulink.EditorInfo" IsActive [1] - ViewObjType "SimulinkSubsys" - LoadSaveID "4608" - Extents [2457.0, 1267.0] - ZoomFactor [3.0744416873449132] - Offset [30.645722987288138, -221.55367231638417] + ViewObjType "SimulinkTopLevel" + LoadSaveID "0" + Extents [1821.0, 911.0] + ZoomFactor [1.4105431309904153] + Offset [567.00396375990942, 207.07474518686297] } Object { $PropName "DockComponentsInfo" @@ -86,9 +86,9 @@ Model { } WindowState "AAAA/wAAAAD9AAAAAgAAAAAAAAC9AAAB+PwCAAAAA/sAAAAWAEQAbwBjAGsAVwBpAGQAZwBlAHQAMwEAAAAxAAAB+AAAA" "AAAAAAA+wAAABYARABvAGMAawBXAGkAZABnAGUAdAA0AAAAAAD/////AAAAAAAAAAD7AAAAUgBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0Ac" - "ABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAAAP////8AAABiAP///wAAAAEAAAAAAAAAAPwCA" + "ABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAAAP////8AAABeAP///wAAAAEAAAAAAAAAAPwCA" "AAAAfsAAABUAEcATABVAEUAMgA6AFAAcgBvAHAAZQByAHQAeQBJAG4AcwBwAGUAYwB0AG8AcgAvAFAAcgBvAHAAZQByAHQAeQAgAEkAbgBzAHAAZ" - "QBjAHQAbwByAAAAAAD/////AAAALAD///8AAAm/AAAFMQAAAAEAAAACAAAAAQAAAAL8AAAAAQAAAAIAAAAP/////wAAAAAA/////wAAAAAAAAAA/" + "QBjAHQAbwByAAAAAAD/////AAAAKAD///8AAAc/AAADyQAAAAEAAAACAAAAAQAAAAL8AAAAAQAAAAIAAAAP/////wAAAAAA/////wAAAAAAAAAA/" "////wEAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/" "////wEAAACA/////wAAAAAAAAAA/////wEAAADo/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wEAAAFo/////wAAAAAAAAAA/" "////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wEAAANR/////wAAAAAAAAAA/" @@ -99,11 +99,12 @@ Model { Creator "daniele" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" - LastModifiedBy "gnava" + LastModifiedBy "icub" ModifiedDateFormat "%" - LastModifiedDate "Mon Sep 24 16:05:50 2018" - RTWModifiedTimeStamp 459705950 - ModelVersionFormat "1.%" + LastModifiedDate "Mon Sep 24 18:16:46 2018" + RTWModifiedTimeStamp 459713531 + ModelVersionFormat "1.%" + ConfigurationManager "none" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "disabled" @@ -212,6 +213,7 @@ Model { AbsTol "auto" FixedStep "Config.Ts" InitialStep "auto" + MaxNumMinSteps "-1" MaxOrder 5 ZcThreshold "auto" ConsecutiveZCsStepRelTol "10*128*eps" @@ -670,14 +672,17 @@ Model { CommentStyle "Auto" IgnoreCustomStorageClasses on IgnoreTestpoints off + IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off OperatorAnnotations off + IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off MATLABFcnDesc off + IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$R$N$M" CustomSymbolStrType "$N$R$M_T" @@ -744,6 +749,7 @@ Model { CodeReplacementLibrary "None" UtilityFuncGeneration "Auto" ERTMultiwordTypeDef "System defined" + ERTMultiwordLength 256 MultiwordLength 2048 GenerateFullHeader on InferredTypesCompatibility off @@ -759,6 +765,7 @@ Model { CombineOutputUpdateFcns off CombineSignalStateStructs off SuppressErrorStatus off + ERTFirstTimeCompliant off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on @@ -849,7 +856,7 @@ Model { Name "Configuration" ExtraOptions "" CurrentDlgPage "Solver" - ConfigPrmDlgPosition [ 75, 71, 1155, 671 ] + ConfigPrmDlgPosition [ 75, 71, 1155, 671 ] } PropName "ConfigurationSets" } @@ -1065,8 +1072,6 @@ Model { SourceOfInitialOutputValue "Dialog" OutputWhenDisabled "held" InitialOutput "[]" - MustResolveToSignalObject off - OutputWhenUnConnected off } Block { BlockType Product @@ -1201,8 +1206,8 @@ Model { } System { Name "torqueBalancingYoga" - Location [65, 24, 2560, 1440] - Open off + Location [65, 24, 1920, 1080] + Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -1213,7 +1218,7 @@ Model { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "195" + ZoomFactor "141" ReportName "simulink-default.rpt" SIDHighWatermark "4630" Block { @@ -1229,12 +1234,6 @@ Model { ContentPreviewEnabled off ConfigSource "Workspace" ConfigObject "'WBTConfigRobot'" - RobotName "'icubSim'" - UrdfFile "'model.urdf'" - ControlledJoints "{'l_elbow','l_shoulder_pitch','torso_roll'}" - ControlBoardsNames "{'left_arm','right_arm','torso'}" - LocalName "'WBT'" - GravityVector "[0,0,-9.81]" } Block { BlockType SubSystem @@ -1450,6 +1449,8 @@ Model { Port { PortNumber 1 Name "CoM_Error" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -1584,6 +1585,8 @@ Model { Port { PortNumber 1 Name "baseOrientation" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -1602,6 +1605,8 @@ Model { Port { PortNumber 1 Name "basePosition" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -1617,10 +1622,14 @@ Model { Port { PortNumber 1 Name "wL_QP" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "wR_QP" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -1636,22 +1645,32 @@ Model { Port { PortNumber 1 Name "torso" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "left_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "right_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 4 Name "left_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 5 Name "right_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -1667,22 +1686,32 @@ Model { Port { PortNumber 1 Name "torso" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "left_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "right_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 4 Name "left_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 5 Name "right_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -1698,22 +1727,32 @@ Model { Port { PortNumber 1 Name "torso" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "left_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "right_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 4 Name "left_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 5 Name "right_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -1729,10 +1768,14 @@ Model { Port { PortNumber 1 Name "error_L" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "error_R" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -1748,10 +1791,14 @@ Model { Port { PortNumber 1 Name "wL_NO_QP" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "wR_NO_QP" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -1767,22 +1814,32 @@ Model { Port { PortNumber 1 Name "torso" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "left_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "right_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 4 Name "left_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 5 Name "right_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -1798,22 +1855,32 @@ Model { Port { PortNumber 1 Name "torso" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "left_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "right_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 4 Name "left_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 5 Name "right_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -1829,22 +1896,32 @@ Model { Port { PortNumber 1 Name "torso" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "left_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "right_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 4 Name "left_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 5 Name "right_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -1860,22 +1937,32 @@ Model { Port { PortNumber 1 Name "torso" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "left_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "right_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 4 Name "left_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 5 Name "right_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -1891,22 +1978,32 @@ Model { Port { PortNumber 1 Name "torso" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "left_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "right_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 4 Name "left_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 5 Name "right_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -1961,6 +2058,8 @@ Model { Port { PortNumber 1 Name "qj" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -1992,6 +2091,8 @@ Model { Port { PortNumber 1 Name "CoM_Desired" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -2010,6 +2111,8 @@ Model { Port { PortNumber 1 Name "torqueError" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -2028,6 +2131,8 @@ Model { Port { PortNumber 1 Name "CoM_Measured" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -2074,6 +2179,8 @@ Model { Port { PortNumber 1 Name "torqueError" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -4041,6 +4148,8 @@ Model { Port { PortNumber 2 Name "M_with_inertia" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -5218,7 +5327,7 @@ Model { Position [-280, 2850, -250, 2880] ZOrder 613 ShowName off - LibraryVersion "1.401" + LibraryVersion "1.388" SourceBlock "simulink/Logic and Bit\nOperations/Compare\nTo Zero" SourceType "Compare To Zero" ContentPreviewEnabled off @@ -5234,7 +5343,7 @@ Model { Position [-280, 2580, -250, 2610] ZOrder 614 ShowName off - LibraryVersion "1.401" + LibraryVersion "1.388" SourceBlock "simulink/Logic and Bit\nOperations/Compare\nTo Zero" SourceType "Compare To Zero" ContentPreviewEnabled off @@ -5272,7 +5381,7 @@ Model { Position [-440, 2581, -380, 2609] ZOrder 605 ShowName off - LibraryVersion "1.401" + LibraryVersion "1.388" SourceBlock "simulink/Logic and Bit\nOperations/Bitwise\nOperator" SourceType "Bitwise Operator" logicop "AND" @@ -5531,6 +5640,8 @@ Model { Port { PortNumber 1 Name "imu_H_link" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -5549,6 +5660,8 @@ Model { Port { PortNumber 1 Name "link_H_root" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -5701,6 +5814,8 @@ Model { Port { PortNumber 2 Name "w_H_b" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -5882,6 +5997,8 @@ Model { Port { PortNumber 1 Name "neck pos" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -6427,6 +6544,8 @@ Model { Port { PortNumber 2 Name "nu_b" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -6898,6 +7017,8 @@ Model { Port { PortNumber 2 Name "references_CoM" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -7511,26 +7632,38 @@ Model { Port { PortNumber 1 Name "CoMDes" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "qDes" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 5 Name "state" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 6 Name "nu" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 7 Name "qj" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 8 Name "smoothingTimeMinJerkComDesQDes" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -7722,6 +7855,8 @@ Model { PortNumber 1 Name "smoothingTimeComAndJoints" PropagatedSignals "smoothingTimeMinJerkComDesQDes" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -7735,6 +7870,8 @@ Model { Port { PortNumber 1 Name "Left right foot in contact" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -7758,6 +7895,8 @@ Model { PortNumber 1 Name "state" PropagatedSignals "state" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -7790,10 +7929,14 @@ Model { Port { PortNumber 1 Name "vb" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "wb" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -7809,22 +7952,32 @@ Model { Port { PortNumber 1 Name "torso" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "left_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "right_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 4 Name "left_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 5 Name "right_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -7840,22 +7993,32 @@ Model { Port { PortNumber 1 Name "torso" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 2 Name "left_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "right_arm" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 4 Name "left_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 5 Name "right_leg" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -9028,6 +9191,8 @@ Model { Port { PortNumber 2 Name "nu_b" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -9484,6 +9649,8 @@ Model { Port { PortNumber 1 Name "imu_H_link" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -9502,6 +9669,8 @@ Model { Port { PortNumber 1 Name "link_H_root" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -9654,6 +9823,8 @@ Model { Port { PortNumber 2 Name "w_H_b" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -9835,6 +10006,8 @@ Model { Port { PortNumber 1 Name "neck pos" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -10206,6 +10379,8 @@ Model { Port { PortNumber 1 Name "imu_H_link" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -10224,6 +10399,8 @@ Model { Port { PortNumber 1 Name "link_H_root" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -10376,6 +10553,8 @@ Model { Port { PortNumber 2 Name "w_H_b" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -10557,6 +10736,8 @@ Model { Port { PortNumber 1 Name "neck pos" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -11094,6 +11275,8 @@ Model { PortNumber 1 Name "wL_WBDT" PropagatedSignals "state" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -11107,6 +11290,8 @@ Model { Port { PortNumber 1 Name "wR_WBDT" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -11128,6 +11313,8 @@ Model { Port { PortNumber 1 Name "thresholdContactOn" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -11141,6 +11328,8 @@ Model { Port { PortNumber 1 Name "thresholdContactOff" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -11388,6 +11577,8 @@ Model { Port { PortNumber 1 Name "wL_WBDT" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -11412,6 +11603,8 @@ Model { Port { PortNumber 1 Name "wR_WBDT" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -11433,6 +11626,8 @@ Model { PortNumber 4 Name "constraintsSmooth" PropagatedSignals "constraints" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } System { Name "stateMachineYogaFCN" @@ -11566,38 +11761,56 @@ Model { Port { PortNumber 2 Name "w_H_b" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "CoM_des" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 4 Name "qj_des" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 5 Name "constraints" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 6 Name "impedances" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 7 Name "KPCoM" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 8 Name "KDCoM" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 9 Name "currentState" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 10 Name "jointsSmoothingTime" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -12531,7 +12744,7 @@ Model { Position [-445, 2851, -385, 2879] ZOrder 606 ShowName off - LibraryVersion "1.401" + LibraryVersion "1.388" SourceBlock "simulink/Logic and Bit\nOperations/Bitwise\nOperator" SourceType "Bitwise Operator" logicop "AND" @@ -13256,11 +13469,15 @@ Model { PortNumber 13 Name "CoM_Error" PropagatedSignals "errorCoM" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 14 Name "fNoQP" PropagatedSignals "f_noQP" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } System { Name "Balancing Controller\n" @@ -13510,58 +13727,86 @@ Model { Port { PortNumber 2 Name "tauModel" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "Sigma" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 4 Name "NA" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 5 Name "fLdotDesC1C2" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 6 Name "HessianMatrixQP1Foot" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 7 Name "gradientQP1Foot" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 8 Name "ConstraintsMatrixQP1Foot" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 9 Name "bVectorConstraintsQp1Foot" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 10 Name "HessianMatrixQP2Feet" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 11 Name "gradientQP2Feet" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 12 Name "ConstraintsMatrixQP2Feet" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 13 Name "bVectorConstraintsQp2Feet" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 14 Name "errorCoM" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } Port { PortNumber 15 Name "f_noQP" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -14222,6 +14467,8 @@ Model { Port { PortNumber 1 Name "imu_H_link" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -14240,6 +14487,8 @@ Model { Port { PortNumber 1 Name "link_H_root" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -14392,6 +14641,8 @@ Model { Port { PortNumber 2 Name "w_H_b" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -14573,6 +14824,8 @@ Model { Port { PortNumber 1 Name "neck pos" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -14944,6 +15197,8 @@ Model { Port { PortNumber 1 Name "imu_H_link" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -14962,6 +15217,8 @@ Model { Port { PortNumber 1 Name "link_H_root" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -15114,6 +15371,8 @@ Model { Port { PortNumber 2 Name "w_H_b" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -15295,6 +15554,8 @@ Model { Port { PortNumber 1 Name "neck pos" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -15813,6 +16074,8 @@ Model { Port { PortNumber 2 Name "nu_b_equivalent" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -15984,6 +16247,8 @@ Model { Port { PortNumber 2 Name "booleanState" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -16613,6 +16878,8 @@ Model { Port { PortNumber 2 Name "onOneFoot" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -16831,6 +17098,8 @@ Model { Port { PortNumber 2 Name "analyticalSolution" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -16981,6 +17250,8 @@ Model { Port { PortNumber 2 Name "f0" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -17254,6 +17525,8 @@ Model { Port { PortNumber 2 Name "f0_oneFoot" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -17334,7 +17607,7 @@ Model { Variant off System { Name "Two Feet" - Location [65, 24, 2560, 1440] + Location [65, 24, 1920, 1080] Open off ModelBrowserVisibility off ModelBrowserWidth 200 @@ -17346,7 +17619,7 @@ Model { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "307" + ZoomFactor "221" Block { BlockType Inport Name "H" @@ -17461,6 +17734,8 @@ Model { Port { PortNumber 2 Name "analyticalSolution" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -17611,6 +17886,8 @@ Model { Port { PortNumber 2 Name "f0" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -17847,6 +18124,8 @@ Model { Port { PortNumber 1 Name "exitFlagQP" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -18433,6 +18712,8 @@ Model { Port { PortNumber 2 Name "reflectedInertia" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -19186,6 +19467,8 @@ Model { Port { PortNumber 2 Name "inRange" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -19634,6 +19917,8 @@ Model { Port { PortNumber 2 Name "uSat" + RTWStorageClass "Auto" + DataLoggingNameMode "SignalName" } } Block { @@ -19997,7 +20282,7 @@ Model { } #Finite State Machines # -# Stateflow 80000012 +# Stateflow 80000010 # # Stateflow {