From 4e03377f0078d82f6715d2841ae14135642cd238 Mon Sep 17 00:00:00 2001 From: Nuno Guedelha Date: Fri, 7 May 2021 17:30:06 +0200 Subject: [PATCH] Set inout parameter 'input motor reflected inertia format' to 'matrix' - as per https://github.com/dic-iit/matlab-whole-body-simulator/pull/44 changes. --- .../torqueControlBalancingWithSimu.mdl | 154 ++++++++---------- 1 file changed, 69 insertions(+), 85 deletions(-) diff --git a/controllers/floating-base-balancing-torque-control-with-simulator/torqueControlBalancingWithSimu.mdl b/controllers/floating-base-balancing-torque-control-with-simulator/torqueControlBalancingWithSimu.mdl index 0618f4b..1b45112 100644 --- a/controllers/floating-base-balancing-torque-control-with-simulator/torqueControlBalancingWithSimu.mdl +++ b/controllers/floating-base-balancing-torque-control-with-simulator/torqueControlBalancingWithSimu.mdl @@ -7,7 +7,7 @@ Model { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" - ComputedModelVersion "3.122" + ComputedModelVersion "3.123" NumModelReferences 0 NumTestPointedSignals 0 NumProvidedFunctions 0 @@ -419,6 +419,17 @@ Model { IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" + LoadSaveID "4955" + Extents [2171.0, 1188.0] + ZoomFactor [2.0773052223433903] + Offset [-119.91137569995328, 98.052613159122757] + SceneRectInView [-119.91137569995328, 98.052613159122757, 1045.1040013999066, 571.89477368175449] + } + Object { + $ObjectID 7 + IsActive [0] + IsTabbed [0] + ViewObjType "SimulinkSubsys" LoadSaveID "4850" Extents [2171.0, 1188.0] ZoomFactor [1.3964802319507956] @@ -426,7 +437,7 @@ Model { SceneRectInView [400.19641548607717, -203.35510808500248, 1554.6227940278457, 850.710216170005] } Object { - $ObjectID 7 + $ObjectID 8 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -437,7 +448,7 @@ Model { SceneRectInView [12.87372526868586, 135.34665821934539, 468.38536196262828, 256.30668356130923] } Object { - $ObjectID 8 + $ObjectID 9 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -448,7 +459,7 @@ Model { SceneRectInView [-158.02631578947376, -70.1842105263158, 571.31578947368428, 312.63157894736844] } Object { - $ObjectID 9 + $ObjectID 10 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -459,7 +470,7 @@ Model { SceneRectInView [-158.02631578947376, -70.1842105263158, 571.31578947368428, 312.63157894736844] } Object { - $ObjectID 10 + $ObjectID 11 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -470,7 +481,7 @@ Model { SceneRectInView [80.154339026122614, 154.55463376836479, 658.838253999605, 360.52503258937384] } Object { - $ObjectID 11 + $ObjectID 12 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -481,7 +492,7 @@ Model { SceneRectInView [569.47947453590621, 441.73077216658527, 412.15823842818759, 225.53845566682949] } Object { - $ObjectID 12 + $ObjectID 13 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -492,7 +503,7 @@ Model { SceneRectInView [-33.73965992647058, -45.831932773109244, 364.8739495798319, 199.66386554621849] } Object { - $ObjectID 13 + $ObjectID 14 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -503,7 +514,7 @@ Model { SceneRectInView [82.52421875, 140.1, 217.1, 118.8] } Object { - $ObjectID 14 + $ObjectID 15 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -514,7 +525,7 @@ Model { SceneRectInView [-608.35758121641425, -114.33481638525888, 1528.7515828078519, 836.55314618872774] } Object { - $ObjectID 15 + $ObjectID 16 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -525,7 +536,7 @@ Model { SceneRectInView [-827.23464439655174, -71.967241379310337, 1390.5629310344827, 760.93448275862067] } Object { - $ObjectID 16 + $ObjectID 17 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -536,7 +547,7 @@ Model { SceneRectInView [256.79612068965514, -277.26034482758621, 660.65775862068972, 361.52068965517242] } Object { - $ObjectID 17 + $ObjectID 18 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -547,7 +558,7 @@ Model { SceneRectInView [-793.97389720558533, -290.08334454895737, 1059.8648857917149, 579.97212543554] } Object { - $ObjectID 18 + $ObjectID 19 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -558,7 +569,7 @@ Model { SceneRectInView [92.0078125, -350.98802908437432, 2171.0, 1188.0] } Object { - $ObjectID 19 + $ObjectID 20 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -569,7 +580,7 @@ Model { SceneRectInView [-112.83168536009441, -373.76948051948051, 901.91337072018882, 493.538961038961] } Object { - $ObjectID 20 + $ObjectID 21 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -580,7 +591,7 @@ Model { SceneRectInView [-48.06941549217828, -144.92583198051949, 845.83414348435656, 462.851663961039] } Object { - $ObjectID 21 + $ObjectID 22 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -591,7 +602,7 @@ Model { SceneRectInView [-706.68143309105676, -478.27262581168833, 1380.7144286821135, 755.54525162337666] } Object { - $ObjectID 22 + $ObjectID 23 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -602,7 +613,7 @@ Model { SceneRectInView [96.146189545676577, -4.1074743527112787, 703.95762090864685, 385.21494870542256] } Object { - $ObjectID 23 + $ObjectID 24 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -613,7 +624,7 @@ Model { SceneRectInView [-211.69612560424537, 252.15114629325387, 605.0, 331.06402579456471] } Object { - $ObjectID 24 + $ObjectID 25 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -624,7 +635,7 @@ Model { SceneRectInView [-410.51953125, -620.5, 2171.0, 1188.0] } Object { - $ObjectID 25 + $ObjectID 26 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -635,7 +646,7 @@ Model { SceneRectInView [-128.63423482247225, -154.52586206896552, 701.83189655172418, 384.05172413793105] } Object { - $ObjectID 26 + $ObjectID 27 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -646,7 +657,7 @@ Model { SceneRectInView [-194.803483319316, -141.48435660218672, 1189.606966638632, 650.96871320437344] } Object { - $ObjectID 27 + $ObjectID 28 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -657,7 +668,7 @@ Model { SceneRectInView [-1178.7732548019947, -284.77258542366184, 1369.7496346039895, 749.54517084732367] } Object { - $ObjectID 28 + $ObjectID 29 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -668,7 +679,7 @@ Model { SceneRectInView [-116.92703117366869, -144.85219724177151, 889.14932180693916, 486.55430414861524] } Object { - $ObjectID 29 + $ObjectID 30 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -679,7 +690,7 @@ Model { SceneRectInView [-736.65534376844744, 2332.9648668093268, 1240.5714285714287, 678.85714285714289] } Object { - $ObjectID 30 + $ObjectID 31 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -690,7 +701,7 @@ Model { SceneRectInView [-33.739659926470551, -42.831932773109244, 364.8739495798319, 199.66386554621849] } Object { - $ObjectID 31 + $ObjectID 32 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -701,7 +712,7 @@ Model { SceneRectInView [-33.739659926470551, -42.831932773109244, 364.8739495798319, 199.66386554621849] } Object { - $ObjectID 32 + $ObjectID 33 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -712,7 +723,7 @@ Model { SceneRectInView [42.960073495100346, -92.586881707886135, 510.17360300979931, 279.17376341577227] } Object { - $ObjectID 33 + $ObjectID 34 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -723,7 +734,7 @@ Model { SceneRectInView [-39.932291666666657, -42.75, 452.29166666666669, 247.5] } Object { - $ObjectID 34 + $ObjectID 35 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -734,7 +745,7 @@ Model { SceneRectInView [-256.01528596010269, -463.59387395006996, 1774.7883844202054, 971.18774790013993] } Object { - $ObjectID 35 + $ObjectID 36 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -745,7 +756,7 @@ Model { SceneRectInView [1438.5531788793103, 818.97931034482758, 778.56551724137933, 426.04137931034484] } Object { - $ObjectID 36 + $ObjectID 37 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -756,7 +767,7 @@ Model { SceneRectInView [917.234213362069, -427.28793103448277, 975.078448275862, 533.57586206896553] } Object { - $ObjectID 37 + $ObjectID 38 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -767,7 +778,7 @@ Model { SceneRectInView [-544.74878771551721, -352.2155172413793, 963.84913793103453, 527.43103448275861] } Object { - $ObjectID 38 + $ObjectID 39 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -778,7 +789,7 @@ Model { SceneRectInView [374.06441393490434, 302.07339302379842, 1297.2149221301913, 709.85321395240317] } Object { - $ObjectID 39 + $ObjectID 40 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -789,7 +800,7 @@ Model { SceneRectInView [732.82082435344819, -198.046551724138, 2023.1474137931036, 1107.093103448276] } Object { - $ObjectID 40 + $ObjectID 41 IsActive [0] IsTabbed [0] ViewObjType "SimulinkSubsys" @@ -799,17 +810,6 @@ Model { Offset [89.479636723777276, -28.60714285714289] SceneRectInView [89.479636723777276, -28.60714285714289, 1240.5714285714287, 678.85714285714289] } - Object { - $ObjectID 41 - IsActive [0] - IsTabbed [0] - ViewObjType "SimulinkSubsys" - LoadSaveID "4955" - Extents [2171.0, 1188.0] - ZoomFactor [2.0773052223433903] - Offset [-119.91137569995328, 98.052613159122757] - SceneRectInView [-119.91137569995328, 98.052613159122757, 1045.1040013999066, 571.89477368175449] - } Object { $ObjectID 42 IsActive [0] @@ -1323,39 +1323,39 @@ Model { Dimension 3 Object { $ObjectID 88 - Type "GLUE2:SpreadSheet" - ID "ModelData" + Type "GLUE2:PropertyInspector" + ID "Property Inspector" Visible [0] - CreateCallback "DataView.createSpreadSheetComponent" + CreateCallback "" UserData "" Floating [0] - DockPosition "Bottom" - Width [2205] - Height [206] + DockPosition "Right" + Width [640] + Height [480] Minimized "Unset" } Object { $ObjectID 89 - Type "Simulink:Editor:ReferencedFiles" - ID "Referenced Files" + Type "GLUE2:SpreadSheet" + ID "ModelData" Visible [0] - CreateCallback "" - UserData "{\"filterShowRefModels\":\"true\",\"filterShowRefSubs\":\"true\",\"filterShowOnlyDirtyFiles\":\"false\"}\n" + CreateCallback "DataView.createSpreadSheetComponent" + UserData "" Floating [0] - DockPosition "Left" + DockPosition "Bottom" Width [640] Height [480] Minimized "Unset" } Object { $ObjectID 90 - Type "GLUE2:PropertyInspector" - ID "Property Inspector" + Type "Simulink:Editor:ReferencedFiles" + ID "Referenced Files" Visible [0] CreateCallback "" - UserData "" + UserData "{\"filterShowRefModels\":\"true\",\"filterShowRefSubs\":\"true\",\"filterShowOnlyDirtyFiles\":\"false\"}\n" Floating [0] - DockPosition "Right" + DockPosition "Left" Width [640] Height [480] Minimized "Unset" @@ -1366,10 +1366,10 @@ Model { "AAAAAAA+wAAABYARABvAGMAawBXAGkAZABnAGUAdAA0AAAAAAD/////AAAAAAAAAAD7AAAAUgBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0Ac" "ABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQBAAAAeQAABOEAAABrAP////sAAABgAFMAaQBtAHUAb" "ABpAG4AawA6AEUAZABpAHQAbwByADoAUgBlAGYAZQByAGUAbgBjAGUAZABGAGkAbABlAHMALwBSAGUAZgBlAHIAZQBuAGMAZQBkACAARgBpAGwAZ" - "QBzAAAAAAD/////AAAAjwD///8AAAABAAABYAAABOH8AgAAAAH8AAAAeQAABOEAAAAAAP////r/////AgAAAAL7AAAAVABHAEwAVQBFADIAOgBQA" + "QBzAAAAAAD/////AAAAjwD///8AAAABAAABYAAABOH8AgAAAAH8AAAAeQAABOEAAAAAAP////r/////AgAAAAH7AAAAVABHAEwAVQBFADIAOgBQA" "HIAbwBwAGUAcgB0AHkASQBuAHMAcABlAGMAdABvAHIALwBQAHIAbwBwAGUAcgB0AHkAIABJAG4AcwBwAGUAYwB0AG8AcgAAAAAA/////wAAAawA/" - "///+/////8AAAAAAP////8AAABpAP///wAAAAMAAAihAAAA6vwBAAAAAfsAAAA2AEcATABVAEUAMgA6AFMAcAByAGUAYQBkAFMAaABlAGUAdAAvA" - "E0AbwBkAGUAbABEAGEAdABhAAAAAV8AAAihAAABSAD///8AAAihAAAE4QAAAAEAAAACAAAAAQAAAAL8AAAAAQAAAAIAAAAA" + "///AAAAAwAACKEAAADq/AEAAAAB+wAAADYARwBMAFUARQAyADoAUwBwAHIAZQBhAGQAUwBoAGUAZQB0AC8ATQBvAGQAZQBsAEQAYQB0AGEAAAABX" + "wAACKEAAAE6AP///wAACKEAAAThAAAAAQAAAAIAAAABAAAAAvwAAAABAAAAAgAAAAA=" Array { Type "Cell" Dimension 0 @@ -1388,9 +1388,9 @@ Model { ModifiedByFormat "%" LastModifiedBy "nunoguedelha" ModifiedDateFormat "%" - LastModifiedDate "Thu May 06 15:11:05 2021" - RTWModifiedTimeStamp 542214505 - ModelVersionFormat "%" + LastModifiedDate "Fri May 07 17:27:52 2021" + RTWModifiedTimeStamp 542309261 + ModelVersionFormat "%" SampleTimeColors on SampleTimeAnnotations on LibraryLinkDisplay "disabled" @@ -2770,12 +2770,6 @@ Model { ContentPreviewEnabled off ConfigSource "Workspace" ConfigObject "'WBTConfigRobot'" - RobotName "'icubSim'" - UrdfFile "'model.urdf'" - ControlledJoints "{'l_elbow','l_shoulder_pitch','torso_roll'}" - ControlBoardsNames "{'left_arm','right_arm','torso'}" - LocalName "'WBT'" - GravityVector "[0,0,-9.81]" } Block { BlockType Constant @@ -4503,7 +4497,6 @@ Model { ZOrder 38 SrcBlock "A" SrcPort 1 - Points [65, 0] DstBlock "QP Two Feet" DstPort 3 } @@ -4549,7 +4542,6 @@ Model { } Branch { ZOrder 79 - Points [43, 0] DstBlock "QP Two Feet" DstPort 1 } @@ -4576,7 +4568,6 @@ Model { } Branch { ZOrder 46 - Points [18, 0] DstBlock "QP Two Feet" DstPort 2 } @@ -4585,7 +4576,6 @@ Model { ZOrder 93 SrcBlock "ubA" SrcPort 1 - Points [65, 0] DstBlock "QP Two Feet" DstPort 5 } @@ -4593,7 +4583,6 @@ Model { ZOrder 94 SrcBlock "Constant" SrcPort 1 - Points [30, 0] DstBlock "QP Two Feet" DstPort 4 } @@ -19271,12 +19260,6 @@ Model { ContentPreviewEnabled on ConfigSource "Workspace" ConfigObject "'WBTConfigRobotSim'" - 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 Constant @@ -19463,7 +19446,7 @@ Model { ZOrder 1231 ForegroundColor "red" BackgroundColor "yellow" - LibraryVersion "3.3" + LibraryVersion "3.20" SourceBlock "mwbs_robotDynamicsWithContacts_lib/RobotDynWithContacts" SourceType "" SourceProductName "Matlab Whole-body Simulator" @@ -19476,6 +19459,7 @@ Model { robot_config "robot_config" contact_config "contact_config" physics_config "physics_config" + motorReflectedInertiaFormat "matrix" } Block { BlockType Outport