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Update whole-body-controllers in latest.releases.yaml to fix downstream usage of MomentumVelocityControl MATLAB functions #956

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Merged
merged 8 commits into from
Dec 17, 2021
Merged

Update whole-body-controllers in latest.releases.yaml to fix downstream usage of MomentumVelocityControl MATLAB functions #956

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2f6cceb
Update whole-body-controllers in latest.releases.yaml
traversaro Dec 16, 2021
8cc3d2d
Update addPathsToUserEnvVariables.ps1.in
traversaro Dec 16, 2021
e6fe1cc
Update removePathsFromUserEnvVariables.ps1.in
traversaro Dec 16, 2021
c1d32d1
Update setup.bat.in
traversaro Dec 16, 2021
a9f523c
Update setup.sh.in
traversaro Dec 16, 2021
247e26c
Update startup_robotology_superbuild.m.in
traversaro Dec 17, 2021
97f1577
Update whole-body-controllers_activate.msh
traversaro Dec 17, 2021
a152601
Update whole-body-controllers_deactivate.msh
traversaro Dec 17, 2021
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1 change: 1 addition & 0 deletions cmake/template/addPathsToUserEnvVariables.ps1.in
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Expand Up @@ -81,6 +81,7 @@ Add-ValueToUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"
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"\mex\+wbc\simulink\MomentumVelocityControl";
Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex\+wbc\examples";
Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox";
Add-ValueToUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox\images";
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1 change: 1 addition & 0 deletions cmake/template/removePathsFromUserEnvVariables.ps1.in
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Expand Up @@ -84,6 +84,7 @@ Remove-ValueFromUserEnvVariable YARP_DATA_DIRS $ROBOTOLOGY_SUPERBUILD_INSTALL_PR
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"\mex\+wbc\simulink\MomentumVelocityControl";
Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\mex\+wbc\examples";
Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox";
Remove-ValueFromUserEnvVariable MATLABPATH $ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX"\share\WBToolbox\images";
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2 changes: 1 addition & 1 deletion cmake/template/setup.bat.in
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Expand Up @@ -48,5 +48,5 @@ 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%\mex\+wbc\examples;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox\images"
set "MATLABPATH=%MATLABPATH%;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\simulink;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\simulink\MomentumVelocityControl;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\examples;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox;%ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\share\WBToolbox\images"
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Just a small comment: I didn't know there were examples installed in %ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX%\mex\+wbc\examples, is whole-body-controller installing them or another repo? In case it is another repo, we'll have to pay attention when refactor the installation path in WBC v3.0

@endcmakeif ROBOTOLOGY_USES_MATLAB
2 changes: 1 addition & 1 deletion cmake/template/setup.sh.in
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Expand Up @@ -51,5 +51,5 @@ export PYTHONPATH=${PYTHONPATH:+${PYTHONPATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_P
export YARP_DATA_DIRS=$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}/mex/+wbc/examples:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox/images
export MATLABPATH=${MATLABPATH:+${MATLABPATH}:}${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex/+wbc/simulink/MomentumVelocityControl:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex/+wbc/simulink:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/mex/+wbc/examples:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox:${ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX}/share/WBToolbox/images
@endcmakeif ROBOTOLOGY_USES_MATLAB
3 changes: 2 additions & 1 deletion cmake/template/startup_robotology_superbuild.m.in
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Expand Up @@ -8,11 +8,12 @@ fprintf('\nMATLAB Toolbox\n');
installDir = '@YCM_EP_INSTALL_DIR@';
mexDir = [installDir, filesep, 'mex'];
simLibDir = [installDir, filesep, 'mex/+wbc/simulink'];
simLibMomVelDir = [installDir, filesep, 'mex/+wbc/simulink/MomentumVelocityControl'];
simModDir = [installDir, filesep, 'mex/+wbc/examples'];
shareDir = [installDir, filesep, 'share/WBToolbox'];
imgDir = [shareDir, filesep, 'images'];

for dirPath = {mexDir,simLibDir,simModDir,shareDir,imgDir}
for dirPath = {mexDir,simLibDir,simLibMomVelDir,simModDir,shareDir,imgDir}
if exist(dirPath{1}, 'dir')
addpath(dirPath{1});
end
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2 changes: 2 additions & 0 deletions conda/multisheller/whole-body-controllers_activate.msh
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@@ -1,7 +1,9 @@
if_(is_set("COMSPEC")).then_([
sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\simulink")),
sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\simulink\\MomentumVelocityControl")),
sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\examples"))
]).else_([
sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/simulink")),
sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/simulink/MomentumVelocityControl")),
sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/examples"))
])
2 changes: 2 additions & 0 deletions conda/multisheller/whole-body-controllers_deactivate.msh
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@@ -1,7 +1,9 @@
if_(is_set("COMSPEC")).then_([
sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\simulink")),
sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\simulink\\MomentumVelocityControl")),
sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\examples"))
]).else_([
sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/simulink")),
sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/simulink/MomentumVelocityControl")),
sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/examples"))
])
2 changes: 1 addition & 1 deletion releases/latest.releases.yaml
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Expand Up @@ -102,7 +102,7 @@ repositories:
whole-body-controllers:
type: git
url: https://github.com/robotology/whole-body-controllers.git
version: v2.5.5
version: v2.5.6
whole-body-estimators:
type: git
url: https://github.com/robotology/whole-body-estimators.git
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