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robotology / whole-body-controllers

Simulink-based whole body controllers for humanoid robots.
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Update README (after #122) #126

Closed nunoguedelha closed 3 years ago

nunoguedelha commented 3 years ago

Follow-up of #122 :

@gabrielenava

  • [x] Could you add matlab-whole-body-simulator also to the list of dependencies in the main WBC readme, and specify that it is an optional dependency for Gazebo-free simulations?

  • [x] Also, feel free to remove the previous simulink-balancing simulator, also from the list of available controllers (and to add instead your simulator).

  • [x] We can add the simulink-balancing-simulator to the list of legacy controllers in the README, in the past I moved old controllers in WBI-Toolbox-Controllers but in this case maybe it is just sufficient to point the last commit where the simulink-balancing simulator is still present.

@traversaro

  • [x] Why do we need to set manually setenv('YARP_ROBOT_NAME','iCubGazeboV2_5') ? Can't we set it somewhere in the example initialization or similar?
  • [x] Could we install torqueControlBalancingWithSimu.mdl, perhaps in a matlab/examples directory or similar? ...

ONGOING... (the package +floatingBaseBalancingTorqueControlWithSimulator just needs to be copied to the install folder mex/examples and mex/examples needs to be added t MATLABPATH the same way as mex/simulink.

By the way it's a bit complex the installation framework there...

traversaro commented 3 years ago

By the way it's a bit complex the installation framework there...

In which sense? Can't we add a install(DIRECTORY ...) and install(FILES ..) and add the files that we need to install where we need to install them?

nunoguedelha commented 3 years ago

Can't we add a install(DIRECTORY ...) and install(FILES ..) a

Yes, I ended up chosing that. Initially I was trying to follow the local whole-body-controllers pattern, but I'll just go with the install(DIRECTORY ...) and install(FILES ..) etc ...

nunoguedelha commented 3 years ago

The installation is handled and tested. Had t choose a not so clean and elegant solution due to the logic around the automatic code generation handled in the main CMakeLists.txt. I'm just checking now the Conda scripts...

traversaro commented 3 years ago

The installation is handled and tested. Had t choose a not so clean and elegant solution due to the logic around the automatic code generation handled in the main CMakeLists.txt. I'm just checking now the Conda scripts...

Can we mark the PR as ready in the meanwhile? So we can review and release it, and if more problem arise we can fix them later.

traversaro commented 3 years ago

As this PR is targeted on master, I guess it supersedes https://github.com/robotology/whole-body-controllers/pull/115 ?

nunoguedelha commented 3 years ago

no, no, sorry, I had rebased on devel and forgot to change the target here. It's targeted on devel.

nunoguedelha commented 3 years ago

there were some templates missing, along with multisheller scripts updates. Pushing now..

nunoguedelha commented 3 years ago

there were some templates missing, along with multisheller scripts updates. Pushing now..

nonsense! those are robotology-superbuild changes.

nunoguedelha commented 3 years ago

Merging...