First working version (#1)

* updated README

* add gitattributes, gitignore and cmakelists

* added models

* added matlab-scripts

* added flight controllers

* ported simulin-gazebo library and renamed

* cleanup jet plugin v1

* Update README.md

* Update README.md

* cleanup of the Simulink library

* Update README.md

* cleaning cmake files

* Update README.md

* Update README.md

* Update README.md

* cleaned up ironcub models

* Update README.md

* lib and models compile with no errors.

* Update README.md

* Update README.md

* Update CMakeLists.txt

* Update CMakeLists.txt

* updating cmakelists.txt

* Update README.md

* fixed matlab-scripts

* updated world files

* controllers and simulink library cleanup and update

* Update README.md

* Update README.md

* Update README.md

* changed robot name in config files folders

* fixing library issues

* flight control with Gazebo is working

* bugfix to run Matlab-only controller

* fix bugs in CMakeLists

* first stable version of the repo

---------

Co-authored-by: Hosameldin <hosameldin.mohamed@iit.it>

.gitattributes

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+*.zip filter=lfs diff=lfs merge=lfs -text
+*.1 filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.pdf filter=lfs diff=lfs merge=lfs -text
+*.step filter=lfs diff=lfs merge=lfs -text
+*.stp filter=lfs diff=lfs merge=lfs -text
+*.stl filter=lfs diff=lfs merge=lfs -text
+*.obj filter=lfs diff=lfs merge=lfs -text
+*.prt filter=lfs diff=lfs merge=lfs -text
+*.asm filter=lfs diff=lfs merge=lfs -text
+*.jar filter=lfs diff=lfs merge=lfs -text
+*.pptx filter=lfs diff=lfs merge=lfs -text
+*.xlsx filter=lfs diff=lfs merge=lfs -text
+*.smpd filter=lfs diff=lfs merge=lfs -text
+*.wmv filter=lfs diff=lfs merge=lfs -text
+*.docx filter=lfs diff=lfs merge=lfs -text
+*.doc filter=lfs diff=lfs merge=lfs -text
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.BMT filter=lfs diff=lfs merge=lfs -text
+*.log filter=lfs diff=lfs merge=lfs -text
+*.mat filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -0,0 +1,64 @@
+# OS X Finder files
+.DS_Store
+
+## Matlab: ------------------------------------------
+##
+## Remove autosaves generated by the Matlab editor
+## We have git for backups!
+##---------------------------------------------------
+
+# Windows default autosave extension
+*.asv
+
+# OSX / *nix default autosave extension
+*.m~
+
+# Compiled MEX binaries (all platforms)
+*.mex*
+
+# Simulink Code Generation
+**/slprj/
+*.original
+*.slxc
+*.r2021b
+*.asv
+
+# Matlab binary .mat files
+*.mat
+!matlab-scripts/jets-pose-optimization/results/*.mat
+!matlab-scripts/joint-pos-optimization/results/*.mat
+
+# Matlab figures
+*.fig
+!flight-controllers-stable/controlAndDataGui/*.fig
+
+# Simulink autosave
+*.autosave
+
+# Build directory
+build/
+
+# Sublime Text: ------------------------------------
+#
+# Ignore projects and workspaces.
+# url: https://www.sublimetext.com
+#---------------------------------------------------
+*.sublime-project
+*.sublime-workspace
+
+# Compilation folders
+/software/build*/
+/build/*
+
+# IDE and testing
+.vscode
+.pytest_cache/**
+.json
+**/__pycache__/**
+**/.venv
+**/venv
+**/dist
+**/.cache/
+**/.kdev4/
+**/*.kdev4
+

CMakeLists.txt

@@ -0,0 +1,74 @@
+################################################################################
+# #
+# Copyright (C) 2018 Fondazione Istitito Italiano di Tecnologia (IIT) #
+# All Rights Reserved. #
+# #
+################################################################################
+
+cmake_minimum_required(VERSION 3.5)
+project(ironcub_software
+ VERSION 0.0.1
+ LANGUAGES C CXX)
+
+# Disable in source build
+if("${PROJECT_SOURCE_DIR}" STREQUAL "${PROJECT_BINARY_DIR}")
+ message(FATAL_ERROR "In-source builds of ironcub_software are not allowed. "
+ "Please remove CMakeCache.txt and the CMakeFiles/ directory, then build out-of-source. "
+ "If you really want to do an in-source build, feel free to comment out this error.")
+endif("${PROJECT_SOURCE_DIR}" STREQUAL "${PROJECT_BINARY_DIR}")
+
+# Check the Operative System
+if(MSVC OR WIN32)
+ set(EXPORT_VAR "set")
+ set(PATH_SEPARATOR "\\")
+ set(VARIABLE_START "%")
+ set(VARIABLE_END "%")
+ set(PATH_LIST_SEPARATOR ";")
+ set(PLUGIN_FOLDER_NAME "bin")
+ set(SETUP_SCRIPT_EXTENSION ".bat")
+elseif(UNIX)
+ set(EXPORT_VAR "export")
+ set(PATH_SEPARATOR "/")
+ set(VARIABLE_START "$")
+ set(VARIABLE_END "")
+ set(PATH_LIST_SEPARATOR ":")
+ set(PLUGIN_FOLDER_NAME "lib")
+ set(SETUP_SCRIPT_EXTENSION ".sh")
+endif()
+
+option(INSTALL_IRONCUB_MODELS "Install iRonCub models in CMAKE_INSTALL_PREFIX." TRUE)
+option(INSTALL_LIBRARY "Install iRonCub gazebo plugin and simulink library." TRUE)
+option(USE_NONLINEAR_JET_DYNAMICS_PLUGIN "Install the nonlinear dynamics of the jet" FALSE)
+option(USE_FIRST_ORDER_JET_DYNAMICS_PLUGIN "Install the firstorder dynamics of the jet" TRUE)
+
+file(TO_NATIVE_PATH "${PROJECT_SOURCE_DIR}" IRONCUB_SOURCE_DIR)
+
+# Set paths for using the iRonCub models in Gazebo
+set(SETUP_PATH_GAZEBO_MODELS "
+${EXPORT_VAR} GAZEBO_MODEL_PATH=${VARIABLE_START}GAZEBO_MODEL_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}
+${EXPORT_VAR} GAZEBO_MODEL_PATH=${VARIABLE_START}GAZEBO_MODEL_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR}robots
+${EXPORT_VAR} GAZEBO_MODEL_PATH=${VARIABLE_START}GAZEBO_MODEL_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1_1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR}robots
+${EXPORT_VAR} GAZEBO_RESOURCE_PATH=${VARIABLE_START}GAZEBO_RESOURCE_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}worlds${PATH_SEPARATOR}iRonCub-Mk1_world
+${EXPORT_VAR} GAZEBO_RESOURCE_PATH=${VARIABLE_START}GAZEBO_RESOURCE_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}worlds${PATH_SEPARATOR}iRonCub-Mk1_1_world
+${EXPORT_VAR} YARP_DATA_DIRS=${VARIABLE_START}YARP_DATA_DIRS${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR}
+${EXPORT_VAR} YARP_DATA_DIRS=${VARIABLE_START}YARP_DATA_DIRS${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_SOURCE_DIR${VARIABLE_END}${PATH_SEPARATOR}models${PATH_SEPARATOR}iRonCub-Mk1_1${PATH_SEPARATOR}iRonCub${PATH_SEPARATOR}")
+
+# Add jets-plugin to Gazebo plugin path
+set(SETUP_PATH_GAZEBO_PLUGINS "${EXPORT_VAR} GAZEBO_PLUGIN_PATH=${VARIABLE_START}GAZEBO_PLUGIN_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_INSTALL_PREFIX${VARIABLE_END}${PATH_SEPARATOR}${PLUGIN_FOLDER_NAME}")
+
+# Add Simulink library to MATLAB path
+set(SETUP_PATH_SIMULINK_LIBRARY "
+ ${EXPORT_VAR} MATLABPATH=${VARIABLE_START}MATLABPATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_INSTALL_PREFIX${VARIABLE_END}${PATH_SEPARATOR}lib${PATH_SEPARATOR}simulink_v1${PATH_SEPARATOR}
+ ${EXPORT_VAR} MATLABPATH=${VARIABLE_START}MATLABPATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_INSTALL_PREFIX${VARIABLE_END}${PATH_SEPARATOR}lib${PATH_SEPARATOR}simulink_v1${PATH_SEPARATOR}matlab_src${PATH_SEPARATOR}
+ ${EXPORT_VAR} MATLABPATH=${VARIABLE_START}MATLABPATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_INSTALL_PREFIX${VARIABLE_END}${PATH_SEPARATOR}lib${PATH_SEPARATOR}simulink_v1${PATH_SEPARATOR}conf${PATH_SEPARATOR}
+ ${EXPORT_VAR} BLOCKFACTORY_PLUGIN_PATH=${VARIABLE_START}BLOCKFACTORY_PLUGIN_PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_INSTALL_PREFIX${VARIABLE_END}${PATH_SEPARATOR}${PLUGIN_FOLDER_NAME}
+ ${EXPORT_VAR} YARP_DATA_DIRS=${VARIABLE_START}YARP_DATA_DIRS${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_INSTALL_PREFIX${VARIABLE_END}${PATH_SEPARATOR}lib${PATH_SEPARATOR}simulink_v1${PATH_SEPARATOR}conf${PATH_SEPARATOR}
+ ${EXPORT_VAR} PATH=${VARIABLE_START}PATH${VARIABLE_END}${PATH_LIST_SEPARATOR}${VARIABLE_START}IRONCUB_SOFTWARE_INSTALL_PREFIX${VARIABLE_END}${PATH_SEPARATOR}bin${PATH_SEPARATOR}")
+
+add_subdirectory(lib)
+add_subdirectory(models)
+
+# Configure MATLAB startup file
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cmake/templates/setup_v1.in ${CMAKE_BINARY_DIR}/share/setup_v1${SETUP_SCRIPT_EXTENSION})
+INSTALL(FILES ${CMAKE_BINARY_DIR}/share/setup_v1${SETUP_SCRIPT_EXTENSION} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/ironcub)
+

README.md

@@ -1,2 +1,125 @@
-# ironcub_software
-In this repository we share public iRonCub software used throughout the project.
+# iRonCub Software
+
+**WARNING! this repo is under active development, and the software that contains comes with no warranties!**
+
+This repo contains libraries, plugins and controllers to perform dynamics simulations of the flying humanoid robot iRonCub. iRonCub is the world first jet-powered humanoid robot and it is being developed by the [Artificial and Mechanical Intelligence](https://ami.iit.it/) group at the Italian Institute of Technology (IIT). For further information on the project, please visit the [arerial humanoid robotics page](https://ami.iit.it/aerial-humanoid-robotics).
+
+https://user-images.githubusercontent.com/12396934/219008717-117eb146-cca6-4056-8dd1-9a06100e97d1.mp4
+
+## Installation
+
+### Dependencies
+
+- [YARP](https://github.com/robotology/yarp);
+- [gazebo-yarp-plugins](https://github.com/robotology/gazebo-yarp-plugins);
+- [whole-body-controllers](https://github.com/robotology/whole-body-controllers);
+- [Matlab & Simulink](https://it.mathworks.com/products/matlab.html);
+- [Gazebo](https://classic.gazebosim.org/download);
+- [iDynTree](https://github.com/robotology/idyntree);
+- [BlockFactory](https://github.com/robotology/blockfactory);
+- [Eigen3](https://eigen.tuxfamily.org/index.php?title=Main_Page);
+- [matlab-whole-body-simulator](https://github.com/ami-iit/matlab-whole-body-simulator).
+
+**Note:** the lowest suppported Matlab version is `R2021b`, and the lowest supported Gazebo version is `v.8`. For controllers that use Simulink library blocks from `matlab-whole-body-simulator`, the lowest supported Matlab version is `R2022b`.
+
+The **highly recommended** way for installing all this dependencies (but Matlab and Gazebo) is to use the [robotology-superbuild](https://github.com/robotology/robotology-superbuild), making sure to enable the `ROBOTOLOGY_ENABLE_DYNAMICS` and `ROBOTOLOGY_USES_GAZEBO` CMake options. 
+
+A quick way to install the dependencies is via [conda package manager](https://docs.conda.io) which provides binary packages for Linux, macOS and Windows of the software contained in the robotology-superbuild. Relying on the community-maintained [`conda-forge`](https://conda-forge.org/) channel and also the `robotology` conda channel.
+
+Please refer to [the documentation in `robotology-superbuild`](https://github.com/robotology/robotology-superbuild/blob/7d79a44e90fbcedf137ab6c5c1d83b943d6e6839/doc/conda-forge.md) to install and configure a conda distribution. Then, once your environment is set, you can run the following command to install the required dependencies.
+
+```sh
+mamba create -n <conda-environment-name>
+mamba activate <conda-environment-name>
+mamba install -c conda-forge compilers cmake pkg-config make ninja
+mamba install -c conda-forge -c robotology icub-models idyntree-matlab-bindings wb-toolbox whole-body-controllers whole-body-estimators gazebo gazebo-yarp-plugins opencv
+```
+
+The installation procedure has been tested on Ubuntu 20.04 and Windows 10.
+
+## Compilation
+
+On **Linux** or **macOS**, run:
+
+```bash
+cd ironcub_software
+mkdir build
+cd build
+cmake .. -DCMAKE_INSTALL_PREFIX="/path/to/desired/install/dir" .
+make install
+```
+
+On **Windows**, run:
+
+```cmd
+cd ironcub_software
+mkdir build
+cd build
+cmake .. -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX="\path\to\desired\install\dir"
+cmake --build . --config Release --target INSTALL
+```
+
+## Running the repo on Windows
+
+To run the repository on Windows it is necessary to properly setup a Windows terminal where commands are executed. First, create a file `setup.bat` with the following content:
+
+```cmd
+call mamba activate <conda-environment-name>
+call <path-to-the-robotology-superbuild>\robotology-superbuild\build\install\share\robotology-superbuild\setup.bat
+
+rem From the iRonCub Software documentation
+call <\path\to\desired\install\dir>\share\ironcub\setup-v1.bat
+
+rem Unset the MESA variable (maybe useless on Windows)
+set MESA_LOADER_DRIVER_OVERRIDE=
+```
+
+In this way the `batch` file will load both the setup script from the `robotology-superbuild` and the `ironcub_software`. Then, download **Windows Terminal** from the _Microsoft Store_.
+
+Launch the Windows Terminal app, go on `settings` and `Create a new profile`, then create a new profile specifying the new name and the tab-name.
+
+Select `Open Json file`.
+
+In the `settings.json` file search for `"list"` inside `"profiles"`, there in the newly generated terminal (easy to find by the `"name"` variable) set the value for `"commandline"` as:
+
+```bash
+"commandline": "cmd.exe /k \"<path-to-the-setup-file>\\setup.bat\""
+```
+
+**IMPORTANT: in the `"commandline"` path be sure to use `\\` as path separator for the correct `.json` file syntax.**
+
+Now the Windows Terminal has the `setup.bat` file acting in a similar way to the `.bashrc` file on _Linux_ OS.
+
+## Running the repo on Ubuntu
+
+Add to your `.bashrc` file the following line:
+
+```bash
+source $IRONCUB_INSTALL_PREFIX/share/ironcub/setup-v1.sh
+```
+
+This `sh` file contains the paths that are needed to use this repo. 
+
+**For Gazebo simulations:**
+
+To better understand which variables are set by the `setup-v1.sh` script, see also these READMEs:
+
+- https://github.com/ami-iit/ironcub_software/tree/porting_mk1_mk1_1/models/worlds#usage
+- https://github.com/ami-iit/ironcub_software/blob/porting_mk1_mk1_1/lib/gazebo/README.md#setting-up-env-variables
+- https://github.com/ami-iit/ironcub_software/tree/porting_mk1_mk1_1/models#installation-and-usage
+
+## Content
+
+Documentation entry points for the different folders are in the [wiki](https://github.com/ami-iit/ironcub_software/wiki) of the repo.
+
+- [flight-controllers-stable](flight-controllers-stable): Simulink controllers to run simulations of `iRonCub-Mk1` and `iRonCub-Mk1_1` flying in Gazebo simulator.
+
+- [matlab-scripts](matlab-scripts): Matlab scripts used to determine the optimal jets configuration, robot posture for take off, and similar offline optimizations.
+
+- [models](models): home positions and URDF models of `iRonCub-Mk1` and `iRonCub-Mk1_1`.
+
+- [lib](lib): Gazebo plugins and Simulink library blocks to be used in the flight controllers.
+
+## Maintainer
+
+Gabriele Nava, @gabrielenava

cmake/templates/setup_v1.in

@@ -0,0 +1,5 @@
+@EXPORT_VAR@ IRONCUB_SOFTWARE_SOURCE_DIR=@IRONCUB_SOURCE_DIR@
+@EXPORT_VAR@ IRONCUB_SOFTWARE_INSTALL_PREFIX=@CMAKE_INSTALL_PREFIX@
+@SETUP_PATH_SIMULINK_LIBRARY@
+@SETUP_PATH_GAZEBO_MODELS@
+@SETUP_PATH_GAZEBO_PLUGINS@