From de27f80473ba7bb76d93570a99aa1f49de7f17a2 Mon Sep 17 00:00:00 2001 From: Gabriele Nava Date: Tue, 9 Oct 2018 17:10:01 +0200 Subject: [PATCH] updated model --- .../torqueBalancingYoga.mdl | 2124 ++++++----------- 1 file changed, 737 insertions(+), 1387 deletions(-) diff --git a/torque-controllers/momentum-based-yoga/torqueBalancingYoga.mdl b/torque-controllers/momentum-based-yoga/torqueBalancingYoga.mdl index 4b7a526..999e9db 100644 --- a/torque-controllers/momentum-based-yoga/torqueBalancingYoga.mdl +++ b/torque-controllers/momentum-based-yoga/torqueBalancingYoga.mdl @@ -1,12 +1,12 @@ Model { - Name "torqueBalancingYoga" - Version 9.0 + Name "torqueBalancingYoga2016" + Version 8.8 SavedCharacterEncoding "UTF-8" GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" - ComputedModelVersion "1.3302" + ComputedModelVersion "1.3294" NumModelReferences 0 NumTestPointedSignals 0 NumProvidedFunctions 0 @@ -15,566 +15,12 @@ Model { HasInitializeEvent 0 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LogicAnalyzerPlugin "on" LogicAnalyzerSignalOrdering "" DiagnosticSuppressor "on" SuppressorTable "22 serialization::archive 11 0 6 0 0 0 11 0" - CustomCodeFunctionData "" - SLCCPlugin "on" ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off @@ -596,7 +42,7 @@ Model { $ObjectID 2 $ClassName "Simulink.WindowInfo" IsActive [1] - Location [65.0, -4.0, 1855.0, 1084.0] + Location [65.0, 24.0, 1855.0, 1056.0] Object { $PropName "ModelBrowserInfo" $ObjectID 3 @@ -621,8 +67,8 @@ Model { ViewObjType "SimulinkTopLevel" LoadSaveID "0" Extents [1817.0, 907.0] - ZoomFactor [1.25] - Offset [559.76461888509721, 174.25984072810013] + ZoomFactor [1.3908227848101267] + Offset [559.2895335608647, 203.93401592719] } Object { $PropName "DockComponentsInfo" @@ -649,23 +95,21 @@ Model { "////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA" } } - HideAutomaticNames on Created "Tue Feb 18 10:13:36 2014" Creator "daniele" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" - LastModifiedBy "icub" + LastModifiedBy "gnava" ModifiedDateFormat "%" - LastModifiedDate "Thu Oct 04 16:14:04 2018" - RTWModifiedTimeStamp 460564663 - ModelVersionFormat "1.%" + LastModifiedDate "Tue Oct 09 17:08:29 2018" + RTWModifiedTimeStamp 461005709 + ModelVersionFormat "1.%" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "disabled" WideLines off ShowLineDimensions on ShowPortDataTypes off - PortDataTypeDisplayFormat "AliasTypeOnly" ShowEditTimeErrors on ShowEditTimeWarnings on ShowEditTimeAdvisorChecks off @@ -686,14 +130,12 @@ Model { BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off - BlockVariantConditionDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks on FunctionConnectors off BrowserLookUnderMasks on SimulationMode "normal" - VisualizeLoggedSignalsWhenLoggingToFile off PauseTimes "5" NumberOfSteps 1 SnapshotBufferSize 10 @@ -710,13 +152,13 @@ Model { $PropName "DataLoggingOverride" $ObjectID 7 $ClassName "Simulink.SimulationData.ModelLoggingInfo" - model_ "torqueBalancingYoga" + model_ "torqueBalancingYoga2016" signals_ [] overrideMode_ [0.0] Array { Type "Cell" Dimension 1 - Cell "torqueBalancingYoga" + Cell "torqueBalancingYoga2016" PropName "logAsSpecifiedByModels_" } Array { @@ -749,13 +191,12 @@ Model { ExtModeAutoUpdateStatusClock on ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off - OrderedModelArguments on Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 8 - Version "1.17.1" + Version "1.16.5" DisabledProps [] Description "" Array { @@ -763,7 +204,7 @@ Model { Dimension 9 Simulink.SolverCC { $ObjectID 9 - Version "1.17.1" + Version "1.16.5" DisabledProps [] Description "" StartTime "0.0" @@ -782,6 +223,7 @@ Model { MaxConsecutiveMinStep "1" RelTol "1e-3" EnableMultiTasking on + EnableConcurrentExecution off ConcurrentTasks off Solver "FixedStepDiscrete" SolverName "FixedStepDiscrete" @@ -798,11 +240,10 @@ Model { SampleTimeConstraint "Unconstrained" InsertRTBMode "Whenever possible" SampleTimeProperty [] - DecoupledContinuousIntegration off } Simulink.DataIOCC { $ObjectID 10 - Version "1.17.1" + Version "1.16.5" DisabledProps [] Description "" Decimation "1" @@ -837,13 +278,12 @@ Model { ReturnWorkspaceOutputsName "out" Refine "1" LoggingToFile off - DatasetSignalFormat "timeseries" LoggingFileName "out.mat" LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { $ObjectID 11 - Version "1.17.1" + Version "1.16.5" Array { Type "Cell" Dimension 8 @@ -898,14 +338,10 @@ Model { BufferReusableBoundary on SimCompilerOptimization "off" AccelVerboseBuild off - OptimizeBlockOrder "off" - OptimizeDataStoreBuffers on - BusAssignmentInplaceUpdate on - DifferentSizesBufferReuse off } Simulink.DebuggingCC { $ObjectID 12 - Version "1.17.1" + Version "1.16.5" Array { Type "Cell" Dimension 1 @@ -944,7 +380,6 @@ Model { MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" - ExportedTasksRateTransMsg "none" SigSpecEnsureSampleTimeMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" @@ -986,7 +421,6 @@ Model { StateNameClashWarn "warning" SimStateInterfaceChecksumMismatchMsg "warning" SimStateOlderReleaseMsg "error" - ChecksumConsistencyForSSReuse "none" InitInArrayFormatMsg "warning" StrictBusMsg "ErrorLevel1" BusNameAdapt "WarnAndRepair" @@ -994,7 +428,6 @@ Model { SymbolicDimMinMaxWarning "warning" LossOfSymbolicDimsSimulationWarning "warning" LossOfSymbolicDimsCodeGenerationWarning "error" - SymbolicDimsDataTypeCodeGenerationDiagnostic "error" BlockIODiagnostic "none" SFUnusedDataAndEventsDiag "warning" SFUnexpectedBacktrackingDiag "warning" @@ -1013,14 +446,10 @@ Model { AllowedUnitSystems "all" UnitsInconsistencyMsg "warning" AllowAutomaticUnitConversions on - RCSCRenamedMsg "warning" - RCSCObservableMsg "warning" - ForceCombineOutputUpdateInSim off - UnitDatabase "" } Simulink.HardwareCC { $ObjectID 13 - Version "1.17.1" + Version "1.16.5" DisabledProps [] Description "" ProdBitPerChar 8 @@ -1068,7 +497,7 @@ Model { } Simulink.ModelReferenceCC { $ObjectID 14 - Version "1.17.1" + Version "1.16.5" DisabledProps [] Description "" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" @@ -1087,7 +516,7 @@ Model { } Simulink.SFSimCC { $ObjectID 15 - Version "1.17.1" + Version "1.16.5" DisabledProps [] Description "" SimCustomSourceCode "" @@ -1111,13 +540,11 @@ Model { ModelFunctionsGlobalVisibility "on" CompileTimeRecursionLimit 50 EnableRuntimeRecursion on - MATLABDynamicMemAlloc on - MATLABDynamicMemAllocThreshold 65536 } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 16 - Version "1.17.1" + Version "1.16.5" Array { Type "Cell" Dimension 16 @@ -1142,7 +569,7 @@ Model { SystemTargetFile "grt.tlc" HardwareBoard "None" TLCOptions "" - GenCodeOnly off + GenCodeOnly on MakeCommand "make_rtw" GenerateMakefile on PackageGeneratedCodeAndArtifacts off @@ -1168,7 +595,6 @@ Model { CustomLibrary "" CustomDefine "" CustomLAPACKCallback "" - CustomFFTCallback "" CustomInitializer "" CustomTerminator "" Toolchain "Automatically locate an installed toolchain" @@ -1183,7 +609,7 @@ Model { CodeProfilingSaveOptions "SummaryOnly" CodeProfilingInstrumentation off SILDebugging off - TargetLang "C" + TargetLang "C++" IncludeBusHierarchyInRTWFileBlockHierarchyMap off GenerateTraceInfo off GenerateTraceReport off @@ -1204,10 +630,10 @@ Model { Dimension 2 Simulink.CodeAppCC { $ObjectID 17 - Version "1.17.1" + Version "1.16.5" Array { Type "Cell" - Dimension 27 + Dimension 28 Cell "IgnoreCustomStorageClasses" Cell "IgnoreTestpoints" Cell "InsertBlockDesc" @@ -1235,6 +661,7 @@ Model { Cell "CustomUserTokenString" Cell "CustomSymbolStrEmxType" Cell "CustomSymbolStrEmxFcn" + Cell "BlockCommentType" PropName "DisabledProps" } Description "" @@ -1253,7 +680,6 @@ Model { SFDataObjDesc off MATLABFcnDesc off MangleLength 1 - SharedChecksumLength 8 CustomSymbolStrGlobalVar "$R$N$M" CustomSymbolStrType "$N$R$M_T" CustomSymbolStrField "$N$M" @@ -1264,8 +690,6 @@ Model { CustomSymbolStrTmpVar "$N$M" CustomSymbolStrMacro "$R$N$M" CustomSymbolStrUtil "$N$C" - CustomSymbolStrEmxType "emxArray_$M$N" - CustomSymbolStrEmxFcn "emx$M$N" CustomUserTokenString "" CustomCommentsFcn "" DefineNamingRule "None" @@ -1277,7 +701,6 @@ Model { InsertBlockDesc off InsertPolySpaceComments off SimulinkBlockComments on - StateflowObjectComments on MATLABSourceComments off EnableCustomComments off InternalIdentifierFile "" @@ -1290,7 +713,7 @@ Model { Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 18 - Version "1.17.1" + Version "1.16.5" Array { Type "Cell" Dimension 17 @@ -1314,14 +737,47 @@ Model { PropName "DisabledProps" } Description "" + Array { + Type "Handle" + Dimension 1 + Simulink.CPPComponent { + $ObjectID 19 + Version "1.17.1" + Array { + Type "Cell" + Dimension 10 + Cell "Description" + Cell "Components" + Cell "Name" + Cell "GenerateDestructor" + Cell "GenerateExternalIOAccessMethods" + Cell "ParameterMemberVisibility" + Cell "InternalMemberVisibility" + Cell "GenerateParameterAccessMethods" + Cell "GenerateInternalMemberAccessMethods" + Cell "UseOperatorNewForModelRefRegistration" + PropName "DisabledProps" + } + Description "" + Name "CPPClassGenComp" + GenerateDestructor on + GenerateExternalIOAccessMethods "None" + ParameterMemberVisibility "private" + InternalMemberVisibility "private" + GenerateParameterAccessMethods "None" + GenerateInternalMemberAccessMethods "None" + UseOperatorNewForModelRefRegistration off + } + PropName "Components" + } TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" GenFloatMathFcnCalls "NOT IN USE" - TargetLangStandard "C89/C90 (ANSI)" + TargetLangStandard "C++03 (ISO)" CodeReplacementLibrary "None" UtilityFuncGeneration "Auto" - MultiwordTypeDef "System defined" + ERTMultiwordTypeDef "System defined" MultiwordLength 2048 GenerateFullHeader on InferredTypesCompatibility off @@ -1334,17 +790,17 @@ Model { ConcurrentExecutionCompliant on IncludeMdlTerminateFcn on GeneratePreprocessorConditionals "Disable all" - CombineOutputUpdateFcns off + CombineOutputUpdateFcns on CombineSignalStateStructs off SuppressErrorStatus off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" - MatFileLogging on - MultiInstanceERTCode off - CodeInterfacePackaging "Nonreusable function" - SupportNonFinite on + MatFileLogging off + MultiInstanceERTCode on + CodeInterfacePackaging "C++ class" + SupportNonFinite off SupportComplex on PurelyIntegerCode off SupportContinuousTime on @@ -1359,16 +815,11 @@ Model { CPPClassGenCompliant on AutosarCompliant off MDXCompliant off - GRTInterface on + GRTInterface off GenerateAllocFcn off UseToolchainInfoCompliant on GenerateSharedConstants on CoderGroups [] - AccessMethods [] - LookupTableObjectStructAxisOrder "1,2,3,4,..." - LUTObjectStructOrderExplicitValues "Size,Breakpoints,Table" - LUTObjectStructOrderEvenSpacing "Size,Breakpoints,Table" - ArrayLayout "Column-major" UseMalloc off ExtMode off ExtModeStaticAlloc off @@ -1389,8 +840,8 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 19 - Version "1.17.1" + $ObjectID 20 + Version "1.16.5" DisabledProps [] Description "Simulink Coverage Configuration Component" Name "Simulink Coverage" @@ -1426,14 +877,13 @@ Model { CovUseTimeInterval off CovStartTime 0 CovStopTime 0 - CovMcdcMode "Masking" } PropName "Components" } Name "Configuration" - ExtraOptions "" - CurrentDlgPage "Solver" - ConfigPrmDlgPosition [ 75, 71, 1155, 671 ] + ExtraOptions "-aBlockCommentType=\"BlockPathComment\" -aIgnoreTestpoints=0 " + CurrentDlgPage "Code Generation/Interface" + ConfigPrmDlgPosition [ 730, 510, 2252, 1380 ] } PropName "ConfigurationSets" } @@ -1443,7 +893,7 @@ Model { } Object { $PropName "DataTransfer" - $ObjectID 20 + $ObjectID 21 $ClassName "Simulink.GlobalDataTransfer" DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)" DefaultTransitionBetweenAsyncTasks "Ensure data integrity only" @@ -1462,7 +912,6 @@ Model { FontWeight "normal" FontAngle "normal" ShowName on - HideAutomaticName on BlockRotation 0 BlockMirror off } @@ -1476,12 +925,7 @@ Model { FontSize 10 FontWeight "normal" FontAngle "normal" - MarkupType "model" UseDisplayTextAsClickCallback off - AnnotationType "note_annotation" - FixedHeight off - FixedWidth off - Interpreter "off" } LineDefaults { FontName "Helvetica" @@ -1493,7 +937,7 @@ Model { SelfModifiable "off" IconFrame "on" IconOpaque "opaque" - RunInitForIconRedraw "analyze" + RunInitForIconRedraw "off" IconRotate "none" PortRotate "default" IconUnits "autoscale" @@ -1657,8 +1101,6 @@ Model { InitialOutput "[]" MustResolveToSignalObject off OutputWhenUnConnected off - OutputWhenUnconnectedValue "0" - VectorParamsAs1DForOutWhenUnconnected off } Block { BlockType Product @@ -1740,12 +1182,10 @@ Model { MaskHideContents off SFBlockType "NONE" GeneratePreprocessorConditionals off - AllowZeroVariantControls off PropagateVariantConditions off TreatAsGroupedWhenPropagatingVariantConditions on ContentPreviewEnabled off IsWebBlock off - IsObserver off } Block { BlockType Sum @@ -1794,10 +1234,9 @@ Model { } } System { - Name "torqueBalancingYoga" - Location [65, -4, 1920, 1080] - Open on - PortBlocksUseCompactNotation off + Name "torqueBalancingYoga2016" + Location [65, 24, 1920, 1080] + Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -1808,7 +1247,7 @@ Model { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "125" + ZoomFactor "139" ReportName "simulink-default.rpt" SIDHighWatermark "4649" Block { @@ -1821,10 +1260,15 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Configuration" SourceType "" - SourceProductName "Whole Body Toolbox" 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 @@ -1840,15 +1284,14 @@ Model { Variant off Object { $PropName "MaskObject" - $ObjectID 21 + $ObjectID 22 $ClassName "Simulink.Mask" Display "disp('VISUALIZER')" } System { Name "Dump and visualize" - Location [65, 24, 1920, 1080] + Location [65, 24, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -1859,7 +1302,7 @@ Model { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "205" + ZoomFactor "287" Block { BlockType From Name "From" @@ -1982,9 +1425,8 @@ Model { Variant off System { Name "Visualizer" - Location [65, 24, 1920, 1080] + Location [65, 24, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -1995,7 +1437,7 @@ Model { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "91" + ZoomFactor "129" Block { BlockType Inport Name "tau_des" @@ -2548,7 +1990,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyStates/Get Measurement" SourceType "Get Measurement" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off measuredType "Joints Position" Port { @@ -2567,7 +2008,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyStates/Get Measurement" SourceType "Get Measurement" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off measuredType "Joints Torque" } @@ -4451,9 +3891,8 @@ Model { Variant off System { Name "Dynamics and Kinematics" - Location [65, 24, 1918, 1060] + Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -4464,7 +3903,7 @@ Model { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "100" + ZoomFactor "216" Block { BlockType Inport Name "w_H_b" @@ -4504,7 +3943,6 @@ Model { Name "Dynamics" Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -4555,7 +3993,6 @@ Model { Name "Add motors reflected inertias" Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -4592,7 +4029,6 @@ Model { Name "Add motor reflected inertias" Location [223, 338, 826, 833] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -4604,7 +4040,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "55" + SIDHighWatermark "58" Block { BlockType Inport Name "M" @@ -4616,25 +4052,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4518::54" + SID "4518::57" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 44 + ZOrder 47 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4518::53" - Tag "Stateflow S-Function torqueBalancingYoga 6" + SID "4518::56" + Tag "Stateflow S-Function torqueBalancingYoga2016 6" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 43 + ZOrder 46 FunctionName "sf_sfun" Parameters "Config" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -4644,9 +4080,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4518::55" + SID "4518::58" Position [460, 241, 480, 259] - ZOrder 45 + ZOrder 48 } Block { BlockType Outport @@ -4657,7 +4093,7 @@ Model { IconDisplay "Port number" } Line { - ZOrder 58 + ZOrder 62 SrcBlock "M" SrcPort 1 DstBlock " SFunction " @@ -4665,7 +4101,7 @@ Model { } Line { Name "M_with_inertia" - ZOrder 59 + ZOrder 63 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -4673,14 +4109,14 @@ Model { DstPort 1 } Line { - ZOrder 60 + ZOrder 64 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 61 + ZOrder 65 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -4722,7 +4158,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Dynamics/Centroidal Momentum" SourceType "Centroidal Momentum" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -4761,7 +4196,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Dynamics/Get Bias Forces" SourceType "Get Generalized Bias Forces" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -4774,7 +4208,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Dynamics/Mass Matrix" SourceType "Mass Matrix" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -4949,7 +4382,6 @@ Model { Name "Kinematics" Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -5024,7 +4456,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Jacobians/DotJ Nu" SourceType "DotJ Nu" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.LEFT_FOOT" } @@ -5038,7 +4469,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Jacobians/DotJ Nu" SourceType "DotJ Nu" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.RIGHT_FOOT" } @@ -5053,7 +4483,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Jacobians/Jacobian" SourceType "Jacobian" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.COM" } @@ -5068,7 +4497,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Jacobians/Jacobian" SourceType "Jacobian" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.LEFT_FOOT" } @@ -5083,7 +4511,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Jacobians/Jacobian" SourceType "Jacobian" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.RIGHT_FOOT" } @@ -5098,7 +4525,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.LEFT_FOOT" } @@ -5113,7 +4539,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.RIGHT_FOOT" } @@ -5131,7 +4556,6 @@ Model { Name "xCom" Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -5171,7 +4595,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.COM" } @@ -5808,9 +5231,8 @@ Model { Variant off System { Name "Robot State and References" - Location [65, 24, 1918, 1060] + Location [326, 394, 953, 1032] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -5821,7 +5243,7 @@ Model { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "125" + ZoomFactor "39" Block { BlockType Reference Name "Compare\nTo Zero" @@ -5833,8 +5255,6 @@ Model { LibraryVersion "1.401" SourceBlock "simulink/Logic and Bit\nOperations/Compare\nTo Zero" SourceType "Compare To Zero" - SourceProductName "Simulink" - SourceProductBaseCode "SL" ContentPreviewEnabled off relop "~=" OutDataTypeStr "boolean" @@ -5851,8 +5271,6 @@ Model { LibraryVersion "1.401" SourceBlock "simulink/Logic and Bit\nOperations/Compare\nTo Zero" SourceType "Compare To Zero" - SourceProductName "Simulink" - SourceProductBaseCode "SL" ContentPreviewEnabled off relop "~=" OutDataTypeStr "boolean" @@ -5891,8 +5309,6 @@ Model { LibraryVersion "1.401" SourceBlock "simulink/Logic and Bit\nOperations/Bitwise\nOperator" SourceType "Bitwise Operator" - SourceProductName "Simulink" - SourceProductBaseCode "SL" logicop "AND" UseBitMask on NumInputPorts "1" @@ -5910,7 +5326,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyStates/Get Measurement" SourceType "Get Measurement" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off measuredType "Joints Position" } @@ -5963,7 +5378,6 @@ Model { Name "Internal Coordinator" Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -6004,7 +5418,6 @@ Model { Name "Base to fixed_link" Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -6064,7 +5477,6 @@ Model { Name "LFoot to base link transform " Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -6121,7 +5533,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.IMU" } @@ -6135,7 +5546,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.BASE" } @@ -6186,7 +5596,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Yarp Read" SourceType "YARP Read" - SourceProductName "Whole Body Toolbox" portName "Ports.NECK_POS" signalSize "Ports.NECK_POS_PORT_SIZE" timeout "0.5" @@ -6234,7 +5643,6 @@ Model { Name "fromImuToHomogeousTransformFCN" Location [219, 337, 814, 775] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -6246,7 +5654,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3770" + SIDHighWatermark "3773" SIDPrevWatermark "9" Block { BlockType Inport @@ -6304,25 +5712,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4059::3769" + SID "4059::3772" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 169 + ZOrder 172 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4059::3768" - Tag "Stateflow S-Function torqueBalancingYoga 2" + SID "4059::3771" + Tag "Stateflow S-Function torqueBalancingYoga2016 2" Ports [6, 2] Position [180, 102, 230, 243] - ZOrder 168 + ZOrder 171 FunctionName "sf_sfun" Parameters "Config" PortCounts "[6 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -6332,9 +5740,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4059::3770" + SID "4059::3773" Position [460, 241, 480, 259] - ZOrder 170 + ZOrder 173 } Block { BlockType Outport @@ -6345,42 +5753,42 @@ Model { IconDisplay "Port number" } Line { - ZOrder 136 + ZOrder 145 SrcBlock "imu_H_link" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 137 + ZOrder 146 SrcBlock "imu_H_link_0" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 138 + ZOrder 147 SrcBlock "link_H_base" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 139 + ZOrder 148 SrcBlock "inertial_0" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 140 + ZOrder 149 SrcBlock "inertial" SrcPort 1 DstBlock " SFunction " DstPort 5 } Line { - ZOrder 141 + ZOrder 150 SrcBlock "neck_pos" SrcPort 1 DstBlock " SFunction " @@ -6388,7 +5796,7 @@ Model { } Line { Name "w_H_b" - ZOrder 142 + ZOrder 151 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -6396,14 +5804,14 @@ Model { DstPort 1 } Line { - ZOrder 143 + ZOrder 152 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 144 + ZOrder 153 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -6423,7 +5831,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/holder\n" SourceType "Holder" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -6438,7 +5845,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/holder\n" SourceType "Holder" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -6454,7 +5860,6 @@ Model { Name "neck transform" Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -6779,7 +6184,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.LEFT_FOOT" } @@ -6793,7 +6197,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.RIGHT_FOOT" } @@ -6929,7 +6332,6 @@ Model { Name "Compute State Velocity" Location [65, 24, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -6986,7 +6388,6 @@ Model { Name "Compute Base Velocity" Location [19, 45, 910, 1950] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -6998,7 +6399,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3779" + SIDHighWatermark "3782" Block { BlockType Inport Name "J_LeftFoot" @@ -7037,25 +6438,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4090::3778" + SID "4090::3781" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 147 + ZOrder 150 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4090::3777" - Tag "Stateflow S-Function torqueBalancingYoga 5" + SID "4090::3780" + Tag "Stateflow S-Function torqueBalancingYoga2016 5" Ports [4, 2] Position [180, 102, 230, 203] - ZOrder 146 + ZOrder 149 FunctionName "sf_sfun" Parameters "Reg" PortCounts "[4 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -7065,9 +6466,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4090::3779" + SID "4090::3782" Position [460, 241, 480, 259] - ZOrder 148 + ZOrder 151 } Block { BlockType Outport @@ -7078,28 +6479,28 @@ Model { IconDisplay "Port number" } Line { - ZOrder 106 + ZOrder 113 SrcBlock "J_LeftFoot" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 107 + ZOrder 114 SrcBlock "J_RightFoot" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 108 + ZOrder 115 SrcBlock "feetInContact" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 109 + ZOrder 116 SrcBlock "qjDot" SrcPort 1 DstBlock " SFunction " @@ -7107,7 +6508,7 @@ Model { } Line { Name "nu_b" - ZOrder 110 + ZOrder 117 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -7115,14 +6516,14 @@ Model { DstPort 1 } Line { - ZOrder 111 + ZOrder 118 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 112 + ZOrder 119 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -7143,7 +6544,6 @@ Model { Name "Feet Jacobians" Location [65, 24, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -7182,7 +6582,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Jacobians/Jacobian" SourceType "Jacobian" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.LEFT_FOOT" } @@ -7196,7 +6595,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Jacobians/Jacobian" SourceType "Jacobian" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.RIGHT_FOOT" } @@ -7278,7 +6676,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyStates/Get Measurement" SourceType "Get Measurement" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off measuredType "Joints Velocity" } @@ -7442,7 +6839,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Yarp Read" SourceType "YARP Read" - SourceProductName "Whole Body Toolbox" portName "Ports.IMU" signalSize "12" timeout "0.5" @@ -7481,7 +6877,6 @@ Model { Name "Reference Generator CoM" Location [53, 45, 896, 1715] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -7493,7 +6888,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3755" + SIDHighWatermark "3758" Block { BlockType Inport Name "pos_CoM_0" @@ -7514,25 +6909,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "2134::3754" + SID "2134::3757" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 157 + ZOrder 160 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "2134::3753" - Tag "Stateflow S-Function torqueBalancingYoga 10" + SID "2134::3756" + Tag "Stateflow S-Function torqueBalancingYoga2016 10" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 156 + ZOrder 159 FunctionName "sf_sfun" Parameters "Config" PortCounts "[2 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -7542,9 +6937,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "2134::3755" + SID "2134::3758" Position [460, 241, 480, 259] - ZOrder 158 + ZOrder 161 } Block { BlockType Outport @@ -7555,7 +6950,7 @@ Model { IconDisplay "Port number" } Line { - ZOrder 76 + ZOrder 81 SrcBlock "pos_CoM_0" SrcPort 1 Points [120, 0] @@ -7563,7 +6958,7 @@ Model { DstPort 1 } Line { - ZOrder 77 + ZOrder 82 SrcBlock "t" SrcPort 1 DstBlock " SFunction " @@ -7571,7 +6966,7 @@ Model { } Line { Name "references_CoM" - ZOrder 78 + ZOrder 83 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -7579,14 +6974,14 @@ Model { DstPort 1 } Line { - ZOrder 79 + ZOrder 84 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 80 + ZOrder 85 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -7627,7 +7022,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/holder\n" SourceType "Holder" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -7642,7 +7036,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/holder\n" SourceType "Holder" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -7668,7 +7061,6 @@ Model { Name "xCom" Location [65, 24, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -7708,7 +7100,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.COM" } @@ -8122,7 +7513,6 @@ Model { Name "Select State and References" Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -8200,7 +7590,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Minimum Jerk Trajectory Generator" SourceType "Minimum Jerk Trajectory Generator" - SourceProductName "Whole Body Toolbox" externalSettlingTime on settlingTime "0.01" sampleTime "Config.Ts" @@ -8220,7 +7609,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Minimum Jerk Trajectory Generator" SourceType "Minimum Jerk Trajectory Generator" - SourceProductName "Whole Body Toolbox" externalSettlingTime on settlingTime "0.01" sampleTime "Config.Ts" @@ -8346,7 +7734,6 @@ Model { Name "Visualize Gain Tuning " Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -9497,7 +8884,6 @@ Model { Name "State Machine Yoga" Location [65, -4, 1920, 1080] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -9547,7 +8933,6 @@ Model { Name "Compute State Velocity" Location [65, 24, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -9604,7 +8989,6 @@ Model { Name "Compute Base Velocity" Location [19, 45, 910, 1950] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -9616,7 +9000,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3779" + SIDHighWatermark "3782" Block { BlockType Inport Name "J_LeftFoot" @@ -9655,25 +9039,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4215::3778" + SID "4215::3781" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 147 + ZOrder 150 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4215::3777" - Tag "Stateflow S-Function torqueBalancingYoga 7" + SID "4215::3780" + Tag "Stateflow S-Function torqueBalancingYoga2016 7" Ports [4, 2] Position [180, 102, 230, 203] - ZOrder 146 + ZOrder 149 FunctionName "sf_sfun" Parameters "Reg" PortCounts "[4 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -9683,9 +9067,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4215::3779" + SID "4215::3782" Position [460, 241, 480, 259] - ZOrder 148 + ZOrder 151 } Block { BlockType Outport @@ -9696,28 +9080,28 @@ Model { IconDisplay "Port number" } Line { - ZOrder 106 + ZOrder 113 SrcBlock "J_LeftFoot" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 107 + ZOrder 114 SrcBlock "J_RightFoot" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 108 + ZOrder 115 SrcBlock "feetInContact" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 109 + ZOrder 116 SrcBlock "qjDot" SrcPort 1 DstBlock " SFunction " @@ -9725,7 +9109,7 @@ Model { } Line { Name "nu_b" - ZOrder 110 + ZOrder 117 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -9733,14 +9117,14 @@ Model { DstPort 1 } Line { - ZOrder 111 + ZOrder 118 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 112 + ZOrder 119 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -9761,7 +9145,6 @@ Model { Name "Feet Jacobians" Location [65, 24, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -9800,7 +9183,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Jacobians/Jacobian" SourceType "Jacobian" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.LEFT_FOOT" } @@ -9814,7 +9196,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Jacobians/Jacobian" SourceType "Jacobian" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.RIGHT_FOOT" } @@ -9896,7 +9277,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyStates/Get Measurement" SourceType "Get Measurement" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off measuredType "Joints Velocity" } @@ -10000,7 +9380,6 @@ Model { Name "Compute base to fixed link transform" Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -10051,7 +9430,6 @@ Model { Name "LFoot to base link transform " Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -10108,7 +9486,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.IMU" } @@ -10122,7 +9499,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.BASE" } @@ -10173,7 +9549,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Yarp Read" SourceType "YARP Read" - SourceProductName "Whole Body Toolbox" portName "Ports.NECK_POS" signalSize "Ports.NECK_POS_PORT_SIZE" timeout "0.5" @@ -10221,7 +9596,6 @@ Model { Name "fromImuToHomogeousTransformFCN" Location [219, 337, 814, 775] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -10233,7 +9607,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3770" + SIDHighWatermark "3773" SIDPrevWatermark "9" Block { BlockType Inport @@ -10291,25 +9665,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4257::3769" + SID "4257::3772" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 169 + ZOrder 172 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4257::3768" - Tag "Stateflow S-Function torqueBalancingYoga 8" + SID "4257::3771" + Tag "Stateflow S-Function torqueBalancingYoga2016 8" Ports [6, 2] Position [180, 102, 230, 243] - ZOrder 168 + ZOrder 171 FunctionName "sf_sfun" Parameters "Config" PortCounts "[6 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -10319,9 +9693,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4257::3770" + SID "4257::3773" Position [460, 241, 480, 259] - ZOrder 170 + ZOrder 173 } Block { BlockType Outport @@ -10332,42 +9706,42 @@ Model { IconDisplay "Port number" } Line { - ZOrder 136 + ZOrder 145 SrcBlock "imu_H_link" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 137 + ZOrder 146 SrcBlock "imu_H_link_0" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 138 + ZOrder 147 SrcBlock "link_H_base" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 139 + ZOrder 148 SrcBlock "inertial_0" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 140 + ZOrder 149 SrcBlock "inertial" SrcPort 1 DstBlock " SFunction " DstPort 5 } Line { - ZOrder 141 + ZOrder 150 SrcBlock "neck_pos" SrcPort 1 DstBlock " SFunction " @@ -10375,7 +9749,7 @@ Model { } Line { Name "w_H_b" - ZOrder 142 + ZOrder 151 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -10383,14 +9757,14 @@ Model { DstPort 1 } Line { - ZOrder 143 + ZOrder 152 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 144 + ZOrder 153 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -10410,7 +9784,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/holder\n" SourceType "Holder" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -10425,7 +9798,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/holder\n" SourceType "Holder" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -10441,7 +9813,6 @@ Model { Name "neck transform" Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -10765,7 +10136,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.LEFT_FOOT" } @@ -10782,7 +10152,6 @@ Model { Name "RFoot to base link transform" Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -10839,7 +10208,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.IMU" } @@ -10853,7 +10221,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.BASE" } @@ -10904,7 +10271,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Yarp Read" SourceType "YARP Read" - SourceProductName "Whole Body Toolbox" portName "Ports.NECK_POS" signalSize "Ports.NECK_POS_PORT_SIZE" timeout "0.5" @@ -10952,7 +10318,6 @@ Model { Name "fromImuToHomogeousTransformFCN" Location [219, 337, 814, 775] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -10964,7 +10329,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3770" + SIDHighWatermark "3773" SIDPrevWatermark "9" Block { BlockType Inport @@ -11022,25 +10387,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4282::3769" + SID "4282::3772" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 169 + ZOrder 172 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4282::3768" - Tag "Stateflow S-Function torqueBalancingYoga 3" + SID "4282::3771" + Tag "Stateflow S-Function torqueBalancingYoga2016 3" Ports [6, 2] Position [180, 102, 230, 243] - ZOrder 168 + ZOrder 171 FunctionName "sf_sfun" Parameters "Config" PortCounts "[6 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -11050,9 +10415,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4282::3770" + SID "4282::3773" Position [460, 241, 480, 259] - ZOrder 170 + ZOrder 173 } Block { BlockType Outport @@ -11063,42 +10428,42 @@ Model { IconDisplay "Port number" } Line { - ZOrder 136 + ZOrder 145 SrcBlock "imu_H_link" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 137 + ZOrder 146 SrcBlock "imu_H_link_0" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 138 + ZOrder 147 SrcBlock "link_H_base" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 139 + ZOrder 148 SrcBlock "inertial_0" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 140 + ZOrder 149 SrcBlock "inertial" SrcPort 1 DstBlock " SFunction " DstPort 5 } Line { - ZOrder 141 + ZOrder 150 SrcBlock "neck_pos" SrcPort 1 DstBlock " SFunction " @@ -11106,7 +10471,7 @@ Model { } Line { Name "w_H_b" - ZOrder 142 + ZOrder 151 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -11114,14 +10479,14 @@ Model { DstPort 1 } Line { - ZOrder 143 + ZOrder 152 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 144 + ZOrder 153 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -11141,7 +10506,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/holder\n" SourceType "Holder" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -11156,7 +10520,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/holder\n" SourceType "Holder" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -11172,7 +10535,6 @@ Model { Name "neck transform" Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -11496,7 +10858,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.RIGHT_FOOT" } @@ -11674,7 +11035,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Minimum Jerk Trajectory Generator" SourceType "Minimum Jerk Trajectory Generator" - SourceProductName "Whole Body Toolbox" externalSettlingTime off settlingTime "Gain.SmoothingTimeGainScheduling" sampleTime "Config.Ts" @@ -11746,7 +11106,6 @@ Model { Name "Visualise extrnal wrenches " Location [65, 24, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -12006,7 +11365,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/holder\n" SourceType "Holder" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -12021,7 +11379,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/holder\n" SourceType "Holder" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -12035,7 +11392,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Yarp Read" SourceType "YARP Read" - SourceProductName "Whole Body Toolbox" portName "Ports.IMU" signalSize "12" timeout "0.5" @@ -12056,7 +11412,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Yarp Read" SourceType "YARP Read" - SourceProductName "Whole Body Toolbox" portName "Ports.WRENCH_LEFT_FOOT" signalSize "6" timeout "0.5" @@ -12081,7 +11436,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Yarp Read" SourceType "YARP Read" - SourceProductName "Whole Body Toolbox" portName "Ports.WRENCH_RIGHT_FOOT" signalSize "6" timeout "0.5" @@ -12118,7 +11472,6 @@ Model { Name "stateMachineYogaFCN" Location [219, 337, 814, 775] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -12130,7 +11483,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3756" + SIDHighWatermark "3759" SIDPrevWatermark "9" Block { BlockType Inport @@ -12224,25 +11577,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "2220::3755" + SID "2220::3758" Ports [1, 1] Position [270, 460, 320, 500] - ZOrder 153 + ZOrder 156 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "2220::3754" - Tag "Stateflow S-Function torqueBalancingYoga 13" + SID "2220::3757" + Tag "Stateflow S-Function torqueBalancingYoga2016 13" Ports [10, 10] Position [180, 100, 230, 320] - ZOrder 152 + ZOrder 155 FunctionName "sf_sfun" Parameters "Gain,Sm" PortCounts "[10 10]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -12284,9 +11637,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "2220::3756" + SID "2220::3759" Position [460, 471, 480, 489] - ZOrder 154 + ZOrder 157 } Block { BlockType Outport @@ -12369,70 +11722,70 @@ Model { IconDisplay "Port number" } Line { - ZOrder 464 + ZOrder 485 SrcBlock "wrench_rightFoot" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 465 + ZOrder 486 SrcBlock "wrench_leftFoot" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 466 + ZOrder 487 SrcBlock "CoM_0" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 467 + ZOrder 488 SrcBlock "q0" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 468 + ZOrder 489 SrcBlock "l_sole_CoM" SrcPort 1 DstBlock " SFunction " DstPort 5 } Line { - ZOrder 469 + ZOrder 490 SrcBlock "r_sole_CoM" SrcPort 1 DstBlock " SFunction " DstPort 6 } Line { - ZOrder 470 + ZOrder 491 SrcBlock "qj" SrcPort 1 DstBlock " SFunction " DstPort 7 } Line { - ZOrder 471 + ZOrder 492 SrcBlock "t" SrcPort 1 DstBlock " SFunction " DstPort 8 } Line { - ZOrder 472 + ZOrder 493 SrcBlock "l_sole_H_b" SrcPort 1 DstBlock " SFunction " DstPort 9 } Line { - ZOrder 473 + ZOrder 494 SrcBlock "r_sole_H_b" SrcPort 1 DstBlock " SFunction " @@ -12440,7 +11793,7 @@ Model { } Line { Name "w_H_b" - ZOrder 474 + ZOrder 495 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -12449,7 +11802,7 @@ Model { } Line { Name "CoM_des" - ZOrder 475 + ZOrder 496 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -12458,7 +11811,7 @@ Model { } Line { Name "qj_des" - ZOrder 476 + ZOrder 497 Labels [0, 0] SrcBlock " SFunction " SrcPort 4 @@ -12467,7 +11820,7 @@ Model { } Line { Name "constraints" - ZOrder 477 + ZOrder 498 Labels [0, 0] SrcBlock " SFunction " SrcPort 5 @@ -12476,7 +11829,7 @@ Model { } Line { Name "impedances" - ZOrder 478 + ZOrder 499 Labels [0, 0] SrcBlock " SFunction " SrcPort 6 @@ -12485,7 +11838,7 @@ Model { } Line { Name "KPCoM" - ZOrder 479 + ZOrder 500 Labels [0, 0] SrcBlock " SFunction " SrcPort 7 @@ -12494,7 +11847,7 @@ Model { } Line { Name "KDCoM" - ZOrder 480 + ZOrder 501 Labels [0, 0] SrcBlock " SFunction " SrcPort 8 @@ -12503,7 +11856,7 @@ Model { } Line { Name "currentState" - ZOrder 481 + ZOrder 502 Labels [0, 0] SrcBlock " SFunction " SrcPort 9 @@ -12512,7 +11865,7 @@ Model { } Line { Name "jointsSmoothingTime" - ZOrder 482 + ZOrder 503 Labels [0, 0] SrcBlock " SFunction " SrcPort 10 @@ -12520,14 +11873,14 @@ Model { DstPort 1 } Line { - ZOrder 483 + ZOrder 504 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 484 + ZOrder 505 SrcBlock " SFunction " SrcPort 1 Points [20, 0] @@ -12550,7 +11903,6 @@ Model { Name "xCom" Location [65, 24, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -12590,7 +11942,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.COM" } @@ -12660,7 +12011,6 @@ Model { Name "xCom1" Location [65, 24, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -12700,7 +12050,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.COM" } @@ -13220,8 +12569,6 @@ Model { LibraryVersion "1.401" SourceBlock "simulink/Logic and Bit\nOperations/Bitwise\nOperator" SourceType "Bitwise Operator" - SourceProductName "Simulink" - SourceProductBaseCode "SL" logicop "AND" UseBitMask on NumInputPorts "1" @@ -13708,7 +13055,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyActuators/Set References" SourceType "Set References" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off controlType "Torque" refSpeed "50" @@ -13726,9 +13072,8 @@ Model { Variant off System { Name "controller_QP" - Location [65, 24, 1920, 1080] + Location [8, 35, 2503, 1479] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -13739,7 +13084,7 @@ Model { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "77" + ZoomFactor "108" Block { BlockType Inport Name "M" @@ -13956,7 +13301,6 @@ Model { Name "Balancing Controller\n" Location [219, 337, 814, 775] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -13968,7 +13312,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3755" + SIDHighWatermark "3758" Block { BlockType Inport Name "constraints" @@ -14178,25 +13522,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "2407::3754" + SID "2407::3757" Ports [1, 1] Position [270, 640, 320, 680] - ZOrder 157 + ZOrder 160 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "2407::3753" - Tag "Stateflow S-Function torqueBalancingYoga 17" + SID "2407::3756" + Tag "Stateflow S-Function torqueBalancingYoga2016 17" Ports [23, 15] Position [180, 65, 230, 545] - ZOrder 156 + ZOrder 159 FunctionName "sf_sfun" Parameters "Gain,Reg" PortCounts "[23 15]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -14258,9 +13602,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "2407::3755" + SID "2407::3758" Position [460, 651, 480, 669] - ZOrder 158 + ZOrder 161 } Block { BlockType Outport @@ -14388,161 +13732,161 @@ Model { IconDisplay "Port number" } Line { - ZOrder 918 + ZOrder 957 SrcBlock "constraints" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 919 + ZOrder 958 SrcBlock "ROBOT_DOF_FOR_SIMULINK" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 920 + ZOrder 959 SrcBlock "ConstraintsMatrix" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 921 + ZOrder 960 SrcBlock "bVectorConstraints" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 922 + ZOrder 961 SrcBlock "qj" SrcPort 1 DstBlock " SFunction " DstPort 5 } Line { - ZOrder 923 + ZOrder 962 SrcBlock "qjDes" SrcPort 1 DstBlock " SFunction " DstPort 6 } Line { - ZOrder 924 + ZOrder 963 SrcBlock "nu" SrcPort 1 DstBlock " SFunction " DstPort 7 } Line { - ZOrder 925 + ZOrder 964 SrcBlock "M" SrcPort 1 DstBlock " SFunction " DstPort 8 } Line { - ZOrder 926 + ZOrder 965 SrcBlock "h" SrcPort 1 DstBlock " SFunction " DstPort 9 } Line { - ZOrder 927 + ZOrder 966 SrcBlock "L" SrcPort 1 DstBlock " SFunction " DstPort 10 } Line { - ZOrder 928 + ZOrder 967 SrcBlock "intLw" SrcPort 1 DstBlock " SFunction " DstPort 11 } Line { - ZOrder 929 + ZOrder 968 SrcBlock "w_H_l_sole" SrcPort 1 DstBlock " SFunction " DstPort 12 } Line { - ZOrder 930 + ZOrder 969 SrcBlock "w_H_r_sole" SrcPort 1 DstBlock " SFunction " DstPort 13 } Line { - ZOrder 931 + ZOrder 970 SrcBlock "JL" SrcPort 1 DstBlock " SFunction " DstPort 14 } Line { - ZOrder 932 + ZOrder 971 SrcBlock "JR" SrcPort 1 DstBlock " SFunction " DstPort 15 } Line { - ZOrder 933 + ZOrder 972 SrcBlock "dJLv" SrcPort 1 DstBlock " SFunction " DstPort 16 } Line { - ZOrder 934 + ZOrder 973 SrcBlock "dJRv" SrcPort 1 DstBlock " SFunction " DstPort 17 } Line { - ZOrder 935 + ZOrder 974 SrcBlock "xCoM" SrcPort 1 DstBlock " SFunction " DstPort 18 } Line { - ZOrder 936 + ZOrder 975 SrcBlock "J_CoM" SrcPort 1 DstBlock " SFunction " DstPort 19 } Line { - ZOrder 937 + ZOrder 976 SrcBlock "desired_x_dx_ddx_CoM" SrcPort 1 DstBlock " SFunction " DstPort 20 } Line { - ZOrder 938 + ZOrder 977 SrcBlock "gainsPCOM" SrcPort 1 DstBlock " SFunction " DstPort 21 } Line { - ZOrder 939 + ZOrder 978 SrcBlock "gainsDCOM" SrcPort 1 DstBlock " SFunction " DstPort 22 } Line { - ZOrder 940 + ZOrder 979 SrcBlock "impedances" SrcPort 1 DstBlock " SFunction " @@ -14550,7 +13894,7 @@ Model { } Line { Name "tauModel" - ZOrder 941 + ZOrder 980 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -14559,7 +13903,7 @@ Model { } Line { Name "Sigma" - ZOrder 942 + ZOrder 981 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -14568,7 +13912,7 @@ Model { } Line { Name "NA" - ZOrder 943 + ZOrder 982 Labels [0, 0] SrcBlock " SFunction " SrcPort 4 @@ -14577,7 +13921,7 @@ Model { } Line { Name "fLdotDesC1C2" - ZOrder 944 + ZOrder 983 Labels [0, 0] SrcBlock " SFunction " SrcPort 5 @@ -14586,7 +13930,7 @@ Model { } Line { Name "HessianMatrixQP1Foot" - ZOrder 945 + ZOrder 984 Labels [0, 0] SrcBlock " SFunction " SrcPort 6 @@ -14595,7 +13939,7 @@ Model { } Line { Name "gradientQP1Foot" - ZOrder 946 + ZOrder 985 Labels [0, 0] SrcBlock " SFunction " SrcPort 7 @@ -14604,7 +13948,7 @@ Model { } Line { Name "ConstraintsMatrixQP1Foot" - ZOrder 947 + ZOrder 986 Labels [0, 0] SrcBlock " SFunction " SrcPort 8 @@ -14613,7 +13957,7 @@ Model { } Line { Name "bVectorConstraintsQp1Foot" - ZOrder 948 + ZOrder 987 Labels [0, 0] SrcBlock " SFunction " SrcPort 9 @@ -14622,7 +13966,7 @@ Model { } Line { Name "HessianMatrixQP2Feet" - ZOrder 949 + ZOrder 988 Labels [0, 0] SrcBlock " SFunction " SrcPort 10 @@ -14631,7 +13975,7 @@ Model { } Line { Name "gradientQP2Feet" - ZOrder 950 + ZOrder 989 Labels [0, 0] SrcBlock " SFunction " SrcPort 11 @@ -14640,7 +13984,7 @@ Model { } Line { Name "ConstraintsMatrixQP2Feet" - ZOrder 951 + ZOrder 990 Labels [0, 0] SrcBlock " SFunction " SrcPort 12 @@ -14649,7 +13993,7 @@ Model { } Line { Name "bVectorConstraintsQp2Feet" - ZOrder 952 + ZOrder 991 Labels [0, 0] SrcBlock " SFunction " SrcPort 13 @@ -14658,7 +14002,7 @@ Model { } Line { Name "errorCoM" - ZOrder 953 + ZOrder 992 Labels [0, 0] SrcBlock " SFunction " SrcPort 14 @@ -14667,7 +14011,7 @@ Model { } Line { Name "f_noQP" - ZOrder 954 + ZOrder 993 Labels [0, 0] SrcBlock " SFunction " SrcPort 15 @@ -14675,14 +14019,14 @@ Model { DstPort 1 } Line { - ZOrder 955 + ZOrder 994 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 956 + ZOrder 995 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -14703,7 +14047,6 @@ Model { Name "Compute angular momentum integral" Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -14760,7 +14103,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Dynamics/Centroidal Momentum" SourceType "Centroidal Momentum" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -14777,7 +14119,6 @@ Model { Name "Compute base to fixed link transform" Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -14828,7 +14169,6 @@ Model { Name "LFoot to base link transform " Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -14885,7 +14225,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.IMU" } @@ -14899,7 +14238,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.BASE" } @@ -14950,7 +14288,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Yarp Read" SourceType "YARP Read" - SourceProductName "Whole Body Toolbox" portName "Ports.NECK_POS" signalSize "Ports.NECK_POS_PORT_SIZE" timeout "0.5" @@ -14998,7 +14335,6 @@ Model { Name "fromImuToHomogeousTransformFCN" Location [219, 337, 814, 775] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -15010,7 +14346,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3770" + SIDHighWatermark "3773" SIDPrevWatermark "9" Block { BlockType Inport @@ -15068,25 +14404,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4438::3769" + SID "4438::3772" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 169 + ZOrder 172 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4438::3768" - Tag "Stateflow S-Function torqueBalancingYoga 1" + SID "4438::3771" + Tag "Stateflow S-Function torqueBalancingYoga2016 1" Ports [6, 2] Position [180, 102, 230, 243] - ZOrder 168 + ZOrder 171 FunctionName "sf_sfun" Parameters "Config" PortCounts "[6 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -15096,9 +14432,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4438::3770" + SID "4438::3773" Position [460, 241, 480, 259] - ZOrder 170 + ZOrder 173 } Block { BlockType Outport @@ -15109,42 +14445,42 @@ Model { IconDisplay "Port number" } Line { - ZOrder 136 + ZOrder 145 SrcBlock "imu_H_link" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 137 + ZOrder 146 SrcBlock "imu_H_link_0" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 138 + ZOrder 147 SrcBlock "link_H_base" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 139 + ZOrder 148 SrcBlock "inertial_0" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 140 + ZOrder 149 SrcBlock "inertial" SrcPort 1 DstBlock " SFunction " DstPort 5 } Line { - ZOrder 141 + ZOrder 150 SrcBlock "neck_pos" SrcPort 1 DstBlock " SFunction " @@ -15152,7 +14488,7 @@ Model { } Line { Name "w_H_b" - ZOrder 142 + ZOrder 151 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -15160,14 +14496,14 @@ Model { DstPort 1 } Line { - ZOrder 143 + ZOrder 152 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 144 + ZOrder 153 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -15187,7 +14523,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/holder\n" SourceType "Holder" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -15202,7 +14537,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/holder\n" SourceType "Holder" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -15218,7 +14552,6 @@ Model { Name "neck transform" Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -15542,7 +14875,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.LEFT_FOOT" } @@ -15559,7 +14891,6 @@ Model { Name "RFoot to base link transform" Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -15616,7 +14947,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.IMU" } @@ -15630,7 +14960,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.BASE" } @@ -15681,7 +15010,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Yarp Read" SourceType "YARP Read" - SourceProductName "Whole Body Toolbox" portName "Ports.NECK_POS" signalSize "Ports.NECK_POS_PORT_SIZE" timeout "0.5" @@ -15729,7 +15057,6 @@ Model { Name "fromImuToHomogeousTransformFCN" Location [219, 337, 814, 775] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -15741,7 +15068,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3770" + SIDHighWatermark "3773" SIDPrevWatermark "9" Block { BlockType Inport @@ -15799,25 +15126,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4463::3769" + SID "4463::3772" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 169 + ZOrder 172 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4463::3768" - Tag "Stateflow S-Function torqueBalancingYoga 4" + SID "4463::3771" + Tag "Stateflow S-Function torqueBalancingYoga2016 4" Ports [6, 2] Position [180, 102, 230, 243] - ZOrder 168 + ZOrder 171 FunctionName "sf_sfun" Parameters "Config" PortCounts "[6 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -15827,9 +15154,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4463::3770" + SID "4463::3773" Position [460, 241, 480, 259] - ZOrder 170 + ZOrder 173 } Block { BlockType Outport @@ -15840,42 +15167,42 @@ Model { IconDisplay "Port number" } Line { - ZOrder 136 + ZOrder 145 SrcBlock "imu_H_link" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 137 + ZOrder 146 SrcBlock "imu_H_link_0" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 138 + ZOrder 147 SrcBlock "link_H_base" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 139 + ZOrder 148 SrcBlock "inertial_0" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 140 + ZOrder 149 SrcBlock "inertial" SrcPort 1 DstBlock " SFunction " DstPort 5 } Line { - ZOrder 141 + ZOrder 150 SrcBlock "neck_pos" SrcPort 1 DstBlock " SFunction " @@ -15883,7 +15210,7 @@ Model { } Line { Name "w_H_b" - ZOrder 142 + ZOrder 151 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -15891,14 +15218,14 @@ Model { DstPort 1 } Line { - ZOrder 143 + ZOrder 152 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 144 + ZOrder 153 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -15918,7 +15245,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/holder\n" SourceType "Holder" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -15933,7 +15259,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/holder\n" SourceType "Holder" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -15949,7 +15274,6 @@ Model { Name "neck transform" Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -16273,7 +15597,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Kinematics/Forward Kinematics" SourceType "Forward Kinematics" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.RIGHT_FOOT" } @@ -16418,7 +15741,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Jacobians/Jacobian" SourceType "Jacobian" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.LEFT_FOOT" } @@ -16432,7 +15754,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyModel/Jacobians/Jacobian" SourceType "Jacobian" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off frameName "Frames.RIGHT_FOOT" } @@ -16454,7 +15775,6 @@ Model { Name "References for L" Location [223, 338, 826, 833] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -16466,7 +15786,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3756" + SIDHighWatermark "3759" Block { BlockType Inport Name "qjErr" @@ -16505,25 +15825,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "3721::3755" + SID "3721::3758" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 80 + ZOrder 83 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "3721::3754" - Tag "Stateflow S-Function torqueBalancingYoga 20" + SID "3721::3757" + Tag "Stateflow S-Function torqueBalancingYoga2016 20" Ports [4, 2] Position [180, 102, 230, 203] - ZOrder 79 + ZOrder 82 FunctionName "sf_sfun" Parameters "Reg" PortCounts "[4 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -16533,9 +15853,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "3721::3756" + SID "3721::3759" Position [460, 241, 480, 259] - ZOrder 81 + ZOrder 84 } Block { BlockType Outport @@ -16546,28 +15866,28 @@ Model { IconDisplay "Port number" } Line { - ZOrder 106 + ZOrder 113 SrcBlock "qjErr" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 107 + ZOrder 114 SrcBlock "JL" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 108 + ZOrder 115 SrcBlock "JR" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 109 + ZOrder 116 SrcBlock "activeFeetConstraints" SrcPort 1 DstBlock " SFunction " @@ -16575,7 +15895,7 @@ Model { } Line { Name "nu_b_equivalent" - ZOrder 110 + ZOrder 117 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -16583,14 +15903,14 @@ Model { DstPort 1 } Line { - ZOrder 111 + ZOrder 118 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 112 + ZOrder 119 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -16654,7 +15974,6 @@ Model { Name "choose base to world transform" Location [223, 338, 826, 833] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -16666,7 +15985,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "69" + SIDHighWatermark "72" Block { BlockType Inport Name "state" @@ -16678,24 +15997,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4027::68" + SID "4027::71" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 59 + ZOrder 62 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4027::67" - Tag "Stateflow S-Function torqueBalancingYoga 19" + SID "4027::70" + Tag "Stateflow S-Function torqueBalancingYoga2016 19" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 58 + ZOrder 61 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -16705,9 +16024,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4027::69" + SID "4027::72" Position [460, 241, 480, 259] - ZOrder 60 + ZOrder 63 } Block { BlockType Outport @@ -16718,7 +16037,7 @@ Model { IconDisplay "Port number" } Line { - ZOrder 61 + ZOrder 65 SrcBlock "state" SrcPort 1 DstBlock " SFunction " @@ -16726,7 +16045,7 @@ Model { } Line { Name "booleanState" - ZOrder 62 + ZOrder 66 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -16734,14 +16053,14 @@ Model { DstPort 1 } Line { - ZOrder 63 + ZOrder 67 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 64 + ZOrder 68 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -16760,7 +16079,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Yarp Read" SourceType "YARP Read" - SourceProductName "Whole Body Toolbox" portName "Ports.IMU" signalSize "12" timeout "0.5" @@ -16965,9 +16283,8 @@ Model { Variant off System { Name "Compute joint torques" - Location [65, -4, 1920, 1080] + Location [65, 24, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -16978,7 +16295,7 @@ Model { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "137" + ZoomFactor "187" Block { BlockType Inport Name "LEFT_RIGHT_FOOT_IN_CONTACT" @@ -17167,9 +16484,8 @@ Model { Variant off System { Name "QPSolver" - Location [65, -4, 1920, 1080] + Location [65, 24, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -17180,7 +16496,7 @@ Model { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "154" + ZoomFactor "209" Block { BlockType Inport Name "LEFT_RIGHT_FOOT_IN_CONTACT" @@ -17287,7 +16603,6 @@ Model { Name "ContactsTransition" Location [223, 338, 826, 833] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -17299,7 +16614,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "39" + SIDHighWatermark "42" Block { BlockType Inport Name "LR_FootInContact" @@ -17311,24 +16626,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4590::38" + SID "4590::41" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 29 + ZOrder 32 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4590::37" - Tag "Stateflow S-Function torqueBalancingYoga 15" + SID "4590::40" + Tag "Stateflow S-Function torqueBalancingYoga2016 15" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 28 + ZOrder 31 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -17338,9 +16653,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4590::39" + SID "4590::42" Position [460, 241, 480, 259] - ZOrder 30 + ZOrder 33 } Block { BlockType Outport @@ -17351,7 +16666,7 @@ Model { IconDisplay "Port number" } Line { - ZOrder 17 + ZOrder 21 SrcBlock "LR_FootInContact" SrcPort 1 DstBlock " SFunction " @@ -17359,7 +16674,7 @@ Model { } Line { Name "onOneFoot" - ZOrder 18 + ZOrder 22 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -17367,14 +16682,14 @@ Model { DstPort 1 } Line { - ZOrder 19 + ZOrder 23 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 20 + ZOrder 24 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -17426,7 +16741,6 @@ Model { Name "One Foot" Location [65, 24, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -17498,7 +16812,6 @@ Model { Name "Analytical Solution One Foot (unconstrained)" Location [223, 338, 826, 833] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -17510,7 +16823,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "40" + SIDHighWatermark "43" Block { BlockType Inport Name "H" @@ -17531,24 +16844,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4600::39" + SID "4600::42" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 30 + ZOrder 33 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4600::38" - Tag "Stateflow S-Function torqueBalancingYoga 22" + SID "4600::41" + Tag "Stateflow S-Function torqueBalancingYoga2016 22" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 29 + ZOrder 32 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -17558,9 +16871,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4600::40" + SID "4600::43" Position [460, 241, 480, 259] - ZOrder 31 + ZOrder 34 } Block { BlockType Outport @@ -17571,7 +16884,7 @@ Model { IconDisplay "Port number" } Line { - ZOrder 21 + ZOrder 26 SrcBlock "H" SrcPort 1 Points [120, 0] @@ -17579,7 +16892,7 @@ Model { DstPort 1 } Line { - ZOrder 22 + ZOrder 27 SrcBlock "g" SrcPort 1 DstBlock " SFunction " @@ -17587,7 +16900,7 @@ Model { } Line { Name "analyticalSolution" - ZOrder 23 + ZOrder 28 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -17595,14 +16908,14 @@ Model { DstPort 1 } Line { - ZOrder 24 + ZOrder 29 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 25 + ZOrder 30 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -17620,7 +16933,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Match Signal Sizes" SourceType "Match Signal Sizes" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -17640,7 +16952,6 @@ Model { Name "Process QP output" Location [223, 338, 826, 833] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -17652,7 +16963,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "47" + SIDHighWatermark "50" Block { BlockType Inport Name "analyticalSolution" @@ -17682,25 +16993,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4602::46" + SID "4602::49" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 31 + ZOrder 34 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4602::45" - Tag "Stateflow S-Function torqueBalancingYoga 12" + SID "4602::48" + Tag "Stateflow S-Function torqueBalancingYoga2016 12" Ports [3, 2] Position [180, 100, 230, 180] - ZOrder 30 + ZOrder 33 FunctionName "sf_sfun" Parameters "Config" PortCounts "[3 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -17710,9 +17021,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4602::47" + SID "4602::50" Position [460, 241, 480, 259] - ZOrder 32 + ZOrder 35 } Block { BlockType Outport @@ -17723,21 +17034,21 @@ Model { IconDisplay "Port number" } Line { - ZOrder 25 + ZOrder 31 SrcBlock "analyticalSolution" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 26 + ZOrder 32 SrcBlock "primalSolution" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 27 + ZOrder 33 SrcBlock "QPStatus" SrcPort 1 DstBlock " SFunction " @@ -17745,7 +17056,7 @@ Model { } Line { Name "f0" - ZOrder 28 + ZOrder 34 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -17753,14 +17064,14 @@ Model { DstPort 1 } Line { - ZOrder 29 + ZOrder 35 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 30 + ZOrder 36 SrcBlock " SFunction " SrcPort 1 Points [20, 0] @@ -17779,7 +17090,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/QP" SourceType "QP" - SourceProductName "Whole Body Toolbox" lbA off ubA on lb off @@ -17925,7 +17235,6 @@ Model { Name "Process One Foot Output" Location [223, 338, 826, 833] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -17937,7 +17246,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "40" + SIDHighWatermark "43" Block { BlockType Inport Name "primalSolution" @@ -17958,24 +17267,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4606::39" + SID "4606::42" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 30 + ZOrder 33 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4606::38" - Tag "Stateflow S-Function torqueBalancingYoga 16" + SID "4606::41" + Tag "Stateflow S-Function torqueBalancingYoga2016 16" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 29 + ZOrder 32 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -17985,9 +17294,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4606::40" + SID "4606::43" Position [460, 241, 480, 259] - ZOrder 31 + ZOrder 34 } Block { BlockType Outport @@ -17998,7 +17307,7 @@ Model { IconDisplay "Port number" } Line { - ZOrder 21 + ZOrder 26 SrcBlock "primalSolution" SrcPort 1 Points [120, 0] @@ -18006,7 +17315,7 @@ Model { DstPort 1 } Line { - ZOrder 22 + ZOrder 27 SrcBlock "LR_FootInContact" SrcPort 1 DstBlock " SFunction " @@ -18014,7 +17323,7 @@ Model { } Line { Name "f0_oneFoot" - ZOrder 23 + ZOrder 28 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -18022,14 +17331,14 @@ Model { DstPort 1 } Line { - ZOrder 24 + ZOrder 29 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 25 + ZOrder 30 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -18060,9 +17369,8 @@ Model { Variant off System { Name "Two Feet" - Location [65, -4, 1920, 1080] + Location [65, 24, 1920, 1080] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -18134,7 +17442,6 @@ Model { Name "Analytical Solution Two Feet (unconstrained)" Location [223, 338, 826, 833] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -18146,7 +17453,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "40" + SIDHighWatermark "43" Block { BlockType Inport Name "H" @@ -18167,24 +17474,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4614::39" + SID "4614::42" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 30 + ZOrder 33 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4614::38" - Tag "Stateflow S-Function torqueBalancingYoga 21" + SID "4614::41" + Tag "Stateflow S-Function torqueBalancingYoga2016 21" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 29 + ZOrder 32 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -18194,9 +17501,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4614::40" + SID "4614::43" Position [460, 241, 480, 259] - ZOrder 31 + ZOrder 34 } Block { BlockType Outport @@ -18207,7 +17514,7 @@ Model { IconDisplay "Port number" } Line { - ZOrder 21 + ZOrder 26 SrcBlock "H" SrcPort 1 Points [120, 0] @@ -18215,7 +17522,7 @@ Model { DstPort 1 } Line { - ZOrder 22 + ZOrder 27 SrcBlock "g" SrcPort 1 DstBlock " SFunction " @@ -18223,7 +17530,7 @@ Model { } Line { Name "analyticalSolution" - ZOrder 23 + ZOrder 28 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -18231,14 +17538,14 @@ Model { DstPort 1 } Line { - ZOrder 24 + ZOrder 29 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 25 + ZOrder 30 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -18256,7 +17563,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Match Signal Sizes" SourceType "Match Signal Sizes" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -18276,7 +17582,6 @@ Model { Name "Process QP output" Location [223, 338, 826, 833] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -18288,7 +17593,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "47" + SIDHighWatermark "50" Block { BlockType Inport Name "analyticalSolution" @@ -18318,25 +17623,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4616::46" + SID "4616::49" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 31 + ZOrder 34 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4616::45" - Tag "Stateflow S-Function torqueBalancingYoga 23" + SID "4616::48" + Tag "Stateflow S-Function torqueBalancingYoga2016 23" Ports [3, 2] Position [180, 100, 230, 180] - ZOrder 30 + ZOrder 33 FunctionName "sf_sfun" Parameters "Config" PortCounts "[3 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -18346,9 +17651,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4616::47" + SID "4616::50" Position [460, 241, 480, 259] - ZOrder 32 + ZOrder 35 } Block { BlockType Outport @@ -18359,21 +17664,21 @@ Model { IconDisplay "Port number" } Line { - ZOrder 25 + ZOrder 31 SrcBlock "analyticalSolution" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 26 + ZOrder 32 SrcBlock "primalSolution" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 27 + ZOrder 33 SrcBlock "QPStatus" SrcPort 1 DstBlock " SFunction " @@ -18381,7 +17686,7 @@ Model { } Line { Name "f0" - ZOrder 28 + ZOrder 34 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -18389,14 +17694,14 @@ Model { DstPort 1 } Line { - ZOrder 29 + ZOrder 35 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 30 + ZOrder 36 SrcBlock " SFunction " SrcPort 1 Points [20, 0] @@ -18415,7 +17720,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/QP" SourceType "QP" - SourceProductName "Whole Body Toolbox" lbA off ubA on lb off @@ -18557,7 +17861,6 @@ Model { Name "Visualize eventual QP failures" Location [65, 24, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -19074,9 +18377,8 @@ Model { Variant off System { Name "Compute joint torques (motor reflected inertia)" - Location [65, 24, 1920, 1080] + Location [8, 35, 2503, 1479] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -19087,7 +18389,7 @@ Model { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "189" + ZoomFactor "256" Block { BlockType Inport Name "u" @@ -19121,7 +18423,6 @@ Model { Name "(transpose(T*Gamma))^{-1}*I_m*(T*Gamma)^{-1}" Location [223, 338, 826, 833] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -19133,36 +18434,36 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "66" + SIDHighWatermark "70" Block { BlockType Demux Name " Demux " - SID "4551::64" + SID "4551::68" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 55 + ZOrder 59 Outputs "1" } Block { BlockType Ground Name " Ground " - SID "4551::66" + SID "4551::70" Position [20, 121, 40, 139] - ZOrder 57 + ZOrder 61 } Block { BlockType S-Function Name " SFunction " - SID "4551::63" - Tag "Stateflow S-Function torqueBalancingYoga 9" + SID "4551::67" + Tag "Stateflow S-Function torqueBalancingYoga2016 9" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 54 + ZOrder 58 FunctionName "sf_sfun" Parameters "Config" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -19172,9 +18473,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4551::65" + SID "4551::69" Position [460, 241, 480, 259] - ZOrder 56 + ZOrder 60 } Block { BlockType Outport @@ -19186,7 +18487,7 @@ Model { } Line { Name "reflectedInertia" - ZOrder 45 + ZOrder 49 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -19194,21 +18495,21 @@ Model { DstPort 1 } Line { - ZOrder 46 + ZOrder 50 SrcBlock " Ground " SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 47 + ZOrder 51 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 48 + ZOrder 52 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -19239,9 +18540,8 @@ Model { Variant off System { Name "Check the contribution of feedforward" - Location [65, 24, 1920, 1080] + Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -19252,7 +18552,7 @@ Model { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "214" + ZoomFactor "300" Block { BlockType Inport Name "feedForward" @@ -19400,63 +18700,56 @@ Model { ".Configuration('Core','General UI',true,'FigureColor',[0.156862745098039 0.156862745098039 0.156862745098039]),ext" "mgr.Configuration('Core','Source 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"5" } Line { @@ -19846,7 +19209,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyStates/Get Measurement" SourceType "Get Measurement" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off measuredType "Joints Acceleration" } @@ -20403,7 +19765,6 @@ Model { Name "emergency stop: joint limits" Location [65, -4, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -20450,7 +19811,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/wholeBodyStates/Get Limits" SourceType "Get Limits" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off limitsSource "ControlBoard" limitsType "Position" @@ -20474,7 +19834,6 @@ Model { Name "MATLAB Function" Location [121, 45, 868, 1245] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -20486,7 +19845,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3755" + SIDHighWatermark "3758" Block { BlockType Inport Name "umin" @@ -20525,24 +19884,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "2421::3754" + SID "2421::3757" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 104 + ZOrder 107 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "2421::3753" - Tag "Stateflow S-Function torqueBalancingYoga 18" + SID "2421::3756" + Tag "Stateflow S-Function torqueBalancingYoga2016 18" Ports [4, 2] Position [180, 102, 230, 203] - ZOrder 103 + ZOrder 106 FunctionName "sf_sfun" PortCounts "[4 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -20552,9 +19911,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "2421::3755" + SID "2421::3758" Position [460, 241, 480, 259] - ZOrder 105 + ZOrder 108 } Block { BlockType Outport @@ -20565,28 +19924,28 @@ Model { IconDisplay "Port number" } Line { - ZOrder 134 + ZOrder 141 SrcBlock "umin" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 135 + ZOrder 142 SrcBlock "umax" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 136 + ZOrder 143 SrcBlock "u" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 137 + ZOrder 144 SrcBlock "tol" SrcPort 1 DstBlock " SFunction " @@ -20594,7 +19953,7 @@ Model { } Line { Name "inRange" - ZOrder 138 + ZOrder 145 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -20602,14 +19961,14 @@ Model { DstPort 1 } Line { - ZOrder 139 + ZOrder 146 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 140 + ZOrder 147 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -20678,7 +20037,7 @@ Model { Variant off Object { $PropName "MaskObject" - $ObjectID 22 + $ObjectID 23 $ClassName "Simulink.Mask" Display "disp('SYNCHRONIZER')" } @@ -20686,7 +20045,6 @@ Model { Name "synchronizer" Location [65, 24, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -20711,7 +20069,6 @@ Model { Name "GAZEBO_SYNCHRONIZER" Location [65, 24, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -20743,7 +20100,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Simulator Synchronizer" SourceType "Simulator Synchronizer" - SourceProductName "Whole Body Toolbox" period "Config.Ts" serverPortName "'/clock/rpc'" clientPortName "'/WBT_synchronizer/rpc:o'" @@ -20788,7 +20144,6 @@ Model { Name "REAL_TIME_SYNC" Location [65, 24, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -20821,7 +20176,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Real Time Synchronizer" SourceType "Real Time Synchronizer" - SourceProductName "Whole Body Toolbox" period "Config.Ts" } } @@ -20851,7 +20205,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/Yarp Clock" SourceType "YARP Clock" - SourceProductName "Whole Body Toolbox" } Line { ZOrder 1 @@ -20900,7 +20253,6 @@ Model { Name "tauDot Saturation" Location [65, 24, 2560, 1440] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -20947,7 +20299,6 @@ Model { Name "Saturate the Torque Derivative" Location [223, 338, 826, 833] Open off - PortBlocksUseCompactNotation off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -20959,7 +20310,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "47" + SIDHighWatermark "50" Block { BlockType Inport Name "u" @@ -20980,25 +20331,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4556::46" + SID "4556::49" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 36 + ZOrder 39 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4556::45" - Tag "Stateflow S-Function torqueBalancingYoga 11" + SID "4556::48" + Tag "Stateflow S-Function torqueBalancingYoga2016 11" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 35 + ZOrder 38 FunctionName "sf_sfun" Parameters "Config" PortCounts "[2 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -21008,9 +20359,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4556::47" + SID "4556::50" Position [460, 241, 480, 259] - ZOrder 37 + ZOrder 40 } Block { BlockType Outport @@ -21021,7 +20372,7 @@ Model { IconDisplay "Port number" } Line { - ZOrder 60 + ZOrder 65 SrcBlock "u" SrcPort 1 Points [120, 0] @@ -21029,7 +20380,7 @@ Model { DstPort 1 } Line { - ZOrder 61 + ZOrder 66 SrcBlock "u_0" SrcPort 1 DstBlock " SFunction " @@ -21037,7 +20388,7 @@ Model { } Line { Name "uSat" - ZOrder 62 + ZOrder 67 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -21045,14 +20396,14 @@ Model { DstPort 1 } Line { - ZOrder 63 + ZOrder 68 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 64 + ZOrder 69 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -21081,7 +20432,6 @@ Model { LibraryVersion "1.649" SourceBlock "WBToolboxLibrary/Utilities/holder\n" SourceType "Holder" - SourceProductName "Whole Body Toolbox" ContentPreviewEnabled off } Block { @@ -21373,10 +20723,10 @@ Model { Stateflow { machine { id 1 - name "torqueBalancingYoga" + name "torqueBalancingYoga2016" created "18-Feb-2014 10:14:40" isLibrary 0 - sfVersion 80000012 + sfVersion 80000010 firstTarget 271 } chart {