Add repo matlab-whole-body-simulator

cmake/Buildmatlab-whole-body-simulator.cmake

@@ -0,0 +1,26 @@
+# Copyright (C) Fondazione Istituto Italiano di Tecnologia
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+include(YCMEPHelper)
+include(FindOrBuildPackage)
+
+find_or_build_package(yarp-matlab-bindings QUIET)
+find_or_build_package(WBToolbox QUIET)
+find_or_build_package(icub-models QUIET)
+
+set(matlab-whole-body-simulator_DEPENDS "")
+list(APPEND matlab-whole-body-simulator_DEPENDS yarp-matlab-bindings)
+list(APPEND matlab-whole-body-simulator_DEPENDS WBToolbox)
+list(APPEND matlab-whole-body-simulator_DEPENDS icub-models)
+
+ycm_ep_helper(matlab-whole-body-simulator TYPE GIT
+              STYLE GITHUB
+              REPOSITORY dic-iit/matlab-whole-body-simulator.git
+              TAG master
+              COMPONENT dynamics
+              FOLDER src
+              DEPENDS ${matlab-whole-body-simulator_DEPENDS})
+
+# Metadata for conda package generation
+# If we do not set the package name, by default the repo name would be used
+# so in this case osqp-matlab-cmake-buildsystem that is not descriptive of the
+# generated artifact that is contained in the conda package

cmake/RobotologySuperbuildLogic.cmake

@@ -51,6 +51,7 @@ if(ROBOTOLOGY_ENABLE_DYNAMICS)
   find_or_build_package(YARP_telemetry)
   if(ROBOTOLOGY_USES_MATLAB)
     find_or_build_package(osqp-matlab)
+    find_or_build_package(matlab-whole-body-simulator)
   endif()
 endif()
 

cmake/template/addPathsToUserEnvVariables.ps1.in

@@ -41,7 +41,7 @@ Add-ValueToUserEnvVariable CMAKE_PREFIX_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREF
 # Setup the path of blockfactory plugins
 Add-ValueToUserEnvVariable BLOCKFACTORY_PLUGIN_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\@BLOCKFACTORY_PLUGIN_PATH_DIRECTORY@\blockfactory";
 
-# Setup to find resources in URDF and SDF files 
+# Setup to find resources in URDF and SDF files
 Add-ValueToUserEnvVariable ROS_PACKAGE_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share"
 Add-ValueToUserEnvVariable AMENT_PREFIX_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share"
 Add-ValueToUserEnvVariable GAZEBO_MODEL_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\gazebo\models"
@@ -74,10 +74,10 @@ Add-ValueToUserEnvVariable PYTHONPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"@ROB
 @endcmakeif ROBOTOLOGY_USES_PYTHON
 
 @cmakeif ROBOTOLOGY_USES_MATLAB
+Add-ValueToUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\RRbot";
+Add-ValueToUserEnvVariable GAZEBO_MODEL_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\RRbot\robots";
 Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex";
 Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex\+wbc\simulink";
 Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox";
 Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox\images";
 @endcmakeif ROBOTOLOGY_USES_MATLAB
-
-

cmake/template/removePathsFromUserEnvVariables.ps1.in

@@ -77,9 +77,10 @@ Remove-ValueFromUserEnvVariable PYTHONPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX
 @endcmakeif ROBOTOLOGY_USES_PYTHON
 
 @cmakeif ROBOTOLOGY_USES_MATLAB
+Remove-ValueFromUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\RRbot";
+Remove-ValueFromUserEnvVariable GAZEBO_MODEL_PATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\RRbot\robots";
 Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex";
 Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex\+wbc\simulink";
 Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox";
 Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox\images";
 @endcmakeif ROBOTOLOGY_USES_MATLAB
-

cmake/template/setup.bat.in

@@ -11,7 +11,7 @@ set "CMAKE_PREFIX_PATH=%CMAKE_PREFIX_PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX
 rem Setup BlockFactory plugins path
 set BLOCKFACTORY_PLUGIN_PATH=%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\@BLOCKFACTORY_PLUGIN_PATH_DIRECTORY@\blockfactory
 
-rem Variables to find resources in URDF and SDF files 
+rem Variables to find resources in URDF and SDF files
 set "ROS_PACKAGE_PATH=%ROS_PACKAGE_PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share"
 set "AMENT_PREFIX_PATH=%AMENT_PREFIX_PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share"
 set "GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\gazebo\models;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\iCub\robots;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share"
@@ -41,6 +41,9 @@ set "PYTHONPATH=%PYTHONPATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\@ROBOTOLOGY_
 @endcmakeif ROBOTOLOGY_USES_PYTHON
 
 @cmakeif ROBOTOLOGY_USES_MATLAB
+rem Set YARP and Gazebo related env variables
+set "YARP_DATA_DIRS=%YARP_DATA_DIRS%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\RRbot"
+set "GAZEBO_MODEL_PATH=%GAZEBO_MODEL_PATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\RRbot\robots"
 rem Configure the Matlab
 set "MATLABPATH=%MATLABPATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\simulink;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox\images"
 @endcmakeif ROBOTOLOGY_USES_MATLAB

cmake/template/setup.sh.in

@@ -45,6 +45,9 @@ export PYTHONPATH=${PYTHONPATH:+${PYTHONPATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_P
 @endcmakeif ROBOTOLOGY_USES_PYTHON
 
 @cmakeif ROBOTOLOGY_USES_MATLAB
+# Set YARP and Gazebo related env variables
+export YARP_DATA_DIRS=$YARP_DATA_DIRS:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/RRbot
+export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/RRbot/robots
 # Configure the Matlab path
 export MATLABPATH=${MATLABPATH:+${MATLABPATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex/+wbc/simulink:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox/images
 @endcmakeif ROBOTOLOGY_USES_MATLAB

cmake/template/startup_robotology_superbuild.m.in

@@ -1,30 +1,20 @@
 %% startup_robotology_superbuild.m
 %
 %  Run this script only once to permanently add the required folders for using
-%  MATLAB toolbox (e.g. WBToolbox, whole-body-controllers) to your MATLAB path. 
+%  MATLAB toolbox (e.g. WBToolbox, whole-body-controllers, matlab-whole-body-simulator) to your MATLAB path.
 
 fprintf('\nMATLAB Toolbox\n');
 
 installDir   = '@YCM_EP_INSTALL_DIR@';
 mexDir       = [installDir, filesep, 'mex'];
-simLibDir    = [installDir, filesep, 'mex/+wbc/simulink'];
+simLibDir   = [installDir, filesep, 'mex/+wbc/simulink'];
 shareDir     = [installDir, filesep, 'share/WBToolbox'];
 imgDir       = [shareDir, filesep, 'images'];
 
-if exist(mexDir, 'dir')
-    addpath(mexDir);
-end
-
-if exist(shareDir, 'dir')
-    addpath(shareDir);
-end
-
-if exist(imgDir, 'dir')
-    addpath(imgDir);
-end
-
-if exist(simLibDir, 'dir')
-    addpath(simLibDir);
+for dirPath = {mexDir,simLibDir,shareDir,imgDir}
+    if exist(dirPath{1}, 'dir')
+        addpath(dirPath{1});
+    end
 end
 
 fileDir               = userpath;

conda/multisheller/matlab-whole-body-simulator_activate.msh

@@ -0,0 +1,19 @@
+if_(is_set("COMSPEC")).then_([
+  sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot")),
+  sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
+  sys.list_append("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
+  sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots"))
+]).else_([
+  sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/RRbot")),
+  sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
+  sys.list_append("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "share")),
+  sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots"))
+])
+
+# For some reason setting two times the same variable inside the same if does not work in command prompt
+# As a workaround, we move each GAZEBO_MODEL_PATH set to a separate if
+if_(is_set("COMSPEC")).then_([
+  sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
+]).else_([
+  sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
+])

conda/multisheller/matlab-whole-body-simulator_deactivate.msh

@@ -0,0 +1,19 @@
+if_(is_set("COMSPEC")).then_([
+  sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot")),
+  sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
+  sys.list_remove("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
+  sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots"))
+]).else_([
+  sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/RRbot")),
+  sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
+  sys.list_remove("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "share")),
+  sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots"))
+])
+
+# For some reason setting two times the same variable inside the same if does not work in command prompt
+# As a workaround, we move each GAZEBO_MODEL_PATH set to a separate if
+if_(is_set("COMSPEC")).then_([
+  sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
+]).else_([
+  sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
+])

doc/cmake-options.md

@@ -44,7 +44,7 @@ All these options are named `ROBOTOLOGY_ENABLE_<profile>` .
 |:------------:|:-----------:|:---------------------:|:-------------:|:----:|
 | `ROBOTOLOGY_ENABLE_CORE` | The core robotology software packages, necessary for most users. | [`YARP`](https://github.com/robotology/yarp), [`ICUB`](https://github.com/robotology/icub-main), [`ICUBcontrib`](https://github.com/robotology/icub-contrib-common), [`icub-models`](https://github.com/robotology/icub-models) and  [`robots-configurations`](https://github.com/robotology/robots-configuration). [`GazeboYARPPlugins`](https://github.com/robotology/GazeboYARPPlugins) and [`icub-gazebo`](https://github.com/robotology/icub-gazebo) if the `ROBOTOLOGY_USES_GAZEBO` option is enabled. [`gym-ignition`](https://github.com/robotology/gym-ignition) if the `ROBOTOLOGY_USES_IGNITION` option is enabled. | `ON` | [Documentation on Core profile.](#core) |
 | `ROBOTOLOGY_ENABLE_ROBOT_TESTING` | The robotology software packages related to robot testing. |  [`RobotTestingFramework`](https://github.com/robotology/robot-testing-framework), [`icub-tests`](https://github.com/robotology/icub-tests), [`blocktest`](https://github.com/robotology/blocktest) and [`blocktest-yarp-plugins`](https://github.com/robotology/blocktest-yarp-plugins) | `OFF` | [Documentation on Robot Testing profile.](#robot-testing)  |
-| `ROBOTOLOGY_ENABLE_DYNAMICS` | The robotology software packages related to balancing, walking and force control. | [`iDynTree`](https://github.com/robotology/idyntree), [`blockfactory`](https://github.com/robotology/blockfactory), [`wb-Toolbox`](https://github.com/robotology/wb-Toolbox), [`whole-body-controllers`](https://github.com/robotology/whole-body-controllers), [`walking-controllers`](https://github.com/robotology/walking-controllers), [`matioCpp`](https://github.com/dic-iit/matio-cpp), [`bipedal-locomotion-framework`](https://github.com/dic-iit/bipedal-locomotion-framework), [`YARP_telemetry`](https://github.com/robotology/yarp-telemetry). | `OFF` | [Documentation on Dynamics profile.](#dynamics)  |
+| `ROBOTOLOGY_ENABLE_DYNAMICS` | The robotology software packages related to balancing, walking and force control. | [`iDynTree`](https://github.com/robotology/idyntree), [`blockfactory`](https://github.com/robotology/blockfactory), [`wb-Toolbox`](https://github.com/robotology/wb-Toolbox), [`whole-body-controllers`](https://github.com/robotology/whole-body-controllers), [`walking-controllers`](https://github.com/robotology/walking-controllers), [`matioCpp`](https://github.com/dic-iit/matio-cpp), [`bipedal-locomotion-framework`](https://github.com/dic-iit/bipedal-locomotion-framework), [`YARP_telemetry`](https://github.com/robotology/yarp-telemetry). Furthermore, [`osqp-matlab`](https://github.com/dic-iit/osqp-matlab-cmake-buildsystem) and [`matlab-whole-body-simulator`](https://github.com/dic-iit/matlab-whole-body-simulator) if `ROBOTOLOGY_USES_MATLAB` option is enabled. | `OFF` | [Documentation on Dynamics profile.](#dynamics)  |
 | `ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS` | Optional dependencies for [`bipedal-locomotion-framework`](https://github.com/dic-iit/bipedal-locomotion-framework). | [`manif`](https://github.com/artivis/manif), [`qhull`](https://github.com/qhull/qhull), [`casadi`](https://github.com/casadi/casadi). [`CppAD`](https://github.com/coin-or/CppAD). | `OFF` | [Documentation on Dynamics full deps profile.](#dynamics-full-deps)  |
 | `ROBOTOLOGY_ENABLE_ICUB_HEAD` | The robotology software packages needed on the system that is running on the head of the iCub robot, or in general to communicate directly with iCub low-level devices. | [`icub-firmware`](https://github.com/robotology/icub-firmware), [`icub-firmware-shared`](https://github.com/robotology/icub-firmware-shared), [`diagnostic-daemon`](https://github.com/robotology/diagnostic-daemon). Furthermore, several additional devices are compiled in `YARP` and `ICUB` if this option is enabled. | `OFF` | [Documentation on iCub Head profile.](#icub-head)  |
 | `ROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS` | The robotology software packages needed to run basic demonstrations with the iCub robot. | [`icub-basic-demos`](https://github.com/robotology/icub-basic-demos), [`speech`](https://github.com/robotology/speech),  [`funny-things`](https://github.com/robotology/funny-things). | `OFF` | [Documentation on iCub Basic Demos profile.](#icub-basic-demos)  |
@@ -237,8 +237,8 @@ This option is set to `OFF` on all platforms as it is still experimental.
 
 ### System Dependencies
 
-Different Ignition distributions can be installed alongside. 
-The projects included in the superbuild might require different distributions. 
+Different Ignition distributions can be installed alongside.
+The projects included in the superbuild might require different distributions.
 From the superbuild point of view, we currently do not allow enabling projects that only support a specific Ignition distribution, therefore all required distributions have to be found in the system.
 
 #### Using conda
@@ -277,10 +277,14 @@ can install some projects that depend on MATLAB, in particular:
  * the MATLAB bindings of qpOASES, contained in the [robotology-dependencies/qpOASES](https://github.com/robotology-dependencies/qpOASES) fork,
  * The [WB-Toolbox](https://github.com/robotology/WB-Toolbox) Simulink toolbox,
  * The [whole-body-controllers](https://github.com/robotology/whole-body-controllers) Simulink-based balancing controllers. Note that whole-body-controllers can be installed and compiled also without MATLAB, but its functionalities are reduced.
+ * The [matlab-whole-body-simulator](https://github.com/dic-iit/matlab-whole-body-simulator) Simulink-based whole-body dynamics simulator with contacts handling.
 
 To use this software, you can simply enable its compilation using the `ROBOTOLOGY_USES_MATLAB` CMake option.
 Once this software has been compiled by the superbuild, you just need to add some directories of the robotology-superbuild install (typically `$ROBOTOLOGY_SUPERBUILD_SOURCE_DIR/build/install`) to [the MATLAB path](https://www.mathworks.com/help/matlab/matlab_env/what-is-the-matlab-search-path.html).
-In particular you need to add to the MATLAB path the `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/mex` directory and all the subdirectories `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/WBToolbox`.
+In particular you need to add to the MATLAB path:
+ * the `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/mex` directory,
+ * the `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/share/WBToolbox` directory and all its subdirectories (except the packages which are folder names starting with "+"),
+ * the library `$ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX/mex/+wbc/simulink`.
 
 #### Start MATLAB from the launcher or the application menu
 
@@ -419,4 +423,3 @@ No additional configuration is required to use the software installed by the  `R
 
 ### Check the installation
 Open a terminal, and check that amoung the device listed by `yarpdev --list` the `esdcan` YARP device is listed.
-