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Update README (after #122) #126

Merged
merged 4 commits into from
May 11, 2021
Merged

Update README (after #122) #126

merged 4 commits into from
May 11, 2021

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nunoguedelha
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@nunoguedelha nunoguedelha self-assigned this May 10, 2021
@nunoguedelha nunoguedelha force-pushed the nunoguedelha-patch-1 branch from b2b01d5 to 0105058 Compare May 10, 2021 19:55
@nunoguedelha nunoguedelha mentioned this pull request May 10, 2021
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@nunoguedelha nunoguedelha changed the title Update README (#122) Update README (after #122) May 11, 2021
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Update READMEs
374e9c8 
Update with w.r.t. changes from after #122.
@nunoguedelha nunoguedelha force-pushed the nunoguedelha-patch-1 branch from 66c0537 to 374e9c8 Compare May 11, 2021 04:52
@nunoguedelha
Converted floating-base-balancing-torque-control-with-simulator into …
85aefc5 
…a package +floatingBaseBalancingTorqueControlWithSimulator

This avoids to:
- Add the model parent folder path to the Matlab path, as well as for every new model (example) installed.
  It would quickly become a mess with the installation of multiple examples, with problems of file names
  collision.
- Having 'folder1/folder2/model.mdl' and 'folder1' in the Matlab path wouldn't work well either because we
  wouldn't be able to call 'folder2/model.mdl' for opening the model from anywhere.
- From there, the easiest solution is to use namespaces provided by Matlab packages.
@nunoguedelha
Set iCubGazeboV2_5 model by default in the torqueControlBalancingWith…
ad0088b 
…Simu.mdl model init
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nunoguedelha commented May 11, 2021 •
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Follow-up of #122 :

@gabrielenava

  • 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?

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

  • 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

  • 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?
  • 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...

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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?

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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
Install the package +floatingBaseBalancingTorqueControlWithSimulator
82b2173 
- minor hack: in the main CMakeLists.txt of the whole-body-controllers, the script returns to the caller before running 'add_subdirectory(controllers)'. As a result, the respective CMakeLists.txt doesn't run, so we had to add the copy commands directly to the main CMakeLists.txt.
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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...

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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.

@nunoguedelha nunoguedelha marked this pull request as ready for review May 11, 2021 16:47
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As this PR is targeted on master, I guess it supersedes #115 ?

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

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

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

nonsense! those are robotology-superbuild changes.

@nunoguedelha nunoguedelha changed the base branch from master to devel May 11, 2021 17:52
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Merging...

@nunoguedelha nunoguedelha merged commit 32ba3a1 into devel May 11, 2021
@nunoguedelha nunoguedelha deleted the nunoguedelha-patch-1 branch May 11, 2021 17:57
nunoguedelha added a commit to robotology/robotology-superbuild that referenced this pull request May 11, 2021
@nunoguedelha
Add <INSTALL_PREFIX>/mex/+wbc/examples path to the CMake templates …
66531c4 
…and conda scripts

- After changes introduced by robotology/whole-body-controllers#126
nunoguedelha added a commit to robotology/robotology-superbuild that referenced this pull request May 12, 2021
@nunoguedelha
Add <INSTALL_PREFIX>/mex/+wbc/examples path to the CMake templates …
e1295c4 
…and conda scripts

- After changes introduced by robotology/whole-body-controllers#126
nunoguedelha added a commit to robotology/robotology-superbuild that referenced this pull request May 12, 2021
@nunoguedelha
Add <INSTALL_PREFIX>/mex/+wbc/examples path to the CMake templates …
c161ca4 
…and conda scripts

- After changes introduced by robotology/whole-body-controllers#126
@nunoguedelha nunoguedelha mentioned this pull request May 12, 2021
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traversaro pushed a commit to robotology/robotology-superbuild that referenced this pull request May 12, 2021
@nunoguedelha
Add <INSTALL_PREFIX>/mex/+wbc/examples path to the CMake templates …
d94d8ca 
…and conda scripts (#722)

- After changes introduced by robotology/whole-body-controllers#126
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@traversaro traversaro traversaro approved these changes

@gabrielenava gabrielenava Awaiting requested review from gabrielenava

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