[Announcement] Script to port Simulink models from WBT v4 to WBT v5

[diegoferigo]

The upcoming v5 release of WBT (at the time of writing in the devel branch) will break the compatibility of the controllers based on the previous releases.

I developed a bash script to automatically update the controllers. It should work OOTB in both GNU/Linux and macOS, and on Windows using the shell provided by Git BASH.

It should be properly tested by @gabrielenava, please let me know if you face any issue.

Usage

wget https://gist.githubusercontent.com/diegoferigo/e2a693b9329c26e7f90d17cf1c3f014e/raw/974acd3c748884161fd70b39020fbf2b5aacae6b/WBT4_to_WBT5.sh
chmod +x WBT4_to_WBT5.sh
#
# Read the help executing:
# ./WBT4_to_WBT5.sh -h
#
# Example:
# ./WBT4_to_WBT5.sh -i model_WBT4.mdl -o model_WBT5.mdl

cc @traversaro

[lrapetti]

While trying to port a model to WBT using this bash script I am getting the following error:

$ ./WBT4_to_WBT5.sh -i torqueBalancingPHRIStandup.mdl -o torqueBalancingPHRIStandup_WBT5.mdl
\e[1;32m==>\e[0m Processing torqueBalancingPHRIStandup.mdl model
  \e[1;34m->\e[0m Creating copy of the input mdl
  \e[1;34m->\e[0m Processing wholeBodyStates blocks
sed: 1: "torqueBalancingPHRIStan ...": undefined label 'orqueBalancingPHRIStandup_WBT5.mdl'

The model I am trying to port is the one in https://github.com/Yeshasvitvs/whole-body-controllers/tree/andy_standup.

(I am working on MacOS)

[diegoferigo]

Are you using the bash shell?

[diegoferigo]

I suspect the error is related to https://stackoverflow.com/questions/4247068/sed-command-with-i-option-failing-on-mac-but-works-on-linux. Can you please check?

[lrapetti]

I suspect the error is related to https://stackoverflow.com/questions/4247068/sed-command-with-i-option-failing-on-mac-but-works-on-linux. Can you please check?

I have tried to install and use GNU-sed (installed via homebrew) in place of MacOS sed and it ended successfully:

$ ./WBT4_to_WBT5.sh -i torqueBalancingPHRIStandup.mdl -o torqueBalancingPHRIStandup_WBT5.mdl
\e[1;32m==>\e[0m Processing torqueBalancingPHRIStandup.mdl model
  \e[1;34m->\e[0m Creating copy of the input mdl
  \e[1;34m->\e[0m Processing wholeBodyStates blocks
  \e[1;34m->\e[0m Processing wholeBodyModel blocks
  \e[1;34m->\e[0m Processing wholeBodyActuators blocks
\e[1;32m==>\e[0m The model compatible with WBT v5 has been created in torqueBalancingPHRIStandup_WBT5.mdl
\e[1;32m==>\e[0m Success

However, I still see those Unresolved Link blocks (while I can add new blocks without getting this error):

[diegoferigo]

I know the problem. Unfortunately when you download the raw version of a file hosted in Gist, the url is unique and points to a specific revision. In fact, it was pointing to the first version of the script, I updated it some while ago but wget was still downloading the outdated version.

Please follow again the instructions of the first post, it should work now.

[lrapetti]

I know the problem. Unfortunately when you download the raw version of a file hosted in Gist, the url is unique and points to a specific revision. In fact, it was pointing to the first version of the script, I updated it some while ago but wget was still downloading the outdated version.

Please follow again the instructions of the first post, it should work now.

@diegoferigo
thanks! It seems that using the update conversion script it is working fine, and the new .mdl is loaded correctly.

[gabrielenava]

I've ported the controllers inside whole-body-controllers in the new WBT V5.0 and I tested the momentum-based-yoga controller on iCubGenova04. The demo was performing as before. I also tested all the controllers in simulation and I've found no issues related to the update.

[yeshasvitirupachuri]

@diegoferigo correction in the example usage listed in #167 (comment). The input model argument specified -i is missing.

./WBT4_to_WBT5.sh -i model_WBT4.mdl -o model_WBT5.mdl

[diegoferigo]

Closing.