From 7e1d74524fc24c77a5b22df55e526aa2e5adb5ff Mon Sep 17 00:00:00 2001 From: Diego Ferigo Date: Fri, 11 Aug 2017 11:58:35 +0000 Subject: [PATCH] Updated library WBToolboxLibrary.mdl: R2012A WBToolboxLibrary.slx: R2014B WBToolboxLibrary_repository.mdl: R2016B --- toolbox/WBToolboxLibrary.mdl | 106 +-- toolbox/WBToolboxLibrary.slx | Bin 536459 -> 40040 bytes toolbox/WBToolboxLibrary_repository.mdl | 813 +++++++++++++++--------- 3 files changed, 570 insertions(+), 349 deletions(-) diff --git a/toolbox/WBToolboxLibrary.mdl b/toolbox/WBToolboxLibrary.mdl index 9d0e733f1..ee935a06f 100644 --- a/toolbox/WBToolboxLibrary.mdl +++ b/toolbox/WBToolboxLibrary.mdl @@ -8,15 +8,15 @@ Library { DisableAllScopes off FPTRunName "Run 1" MaxMDLFileLineLength 120 - Created "Thu Feb 06 02:21:39 2014" + Created "Thu Feb 06 01:21:39 2014" Creator "jorhabib" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "icub" ModifiedDateFormat "%" - LastModifiedDate "Fri Aug 11 07:02:44 2017" - RTWModifiedTimeStamp 424335764 - ModelVersionFormat "1.%" + LastModifiedDate "Fri Aug 11 11:57:00 2017" + RTWModifiedTimeStamp 424353420 + ModelVersionFormat "1.%" ConfigurationManager "none" SampleTimeColors off SampleTimeAnnotations off @@ -755,7 +755,7 @@ Library { } System { Name "WBToolboxLibrary" - Location [173, 232, 1453, 953] + Location [123, 132, 1403, 853] Open off ModelBrowserVisibility off ModelBrowserWidth 200 @@ -789,7 +789,7 @@ Library { MaskIconUnits "autoscale" System { Name "Utilities" - Location [173, 232, 1453, 953] + Location [470, 205, 1750, 926] Open off ModelBrowserVisibility off ModelBrowserWidth 200 @@ -801,7 +801,7 @@ Library { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "166" + ZoomFactor "175" Block { BlockType SubSystem Name "DampPinv" @@ -917,20 +917,20 @@ Library { Block { BlockType Demux Name " Demux " - SID "107::1618" + SID "107::1624" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 98 + ZOrder 104 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "107::1617" + SID "107::1623" Tag "Stateflow S-Function WBToolboxLibrary 6" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 97 + ZOrder 103 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off @@ -945,9 +945,9 @@ Library { Block { BlockType Terminator Name " Terminator " - SID "107::1619" + SID "107::1625" Position [460, 241, 480, 259] - ZOrder 99 + ZOrder 105 } Block { BlockType Outport @@ -1033,29 +1033,57 @@ Library { MaskHideContents off } Block { - BlockType Reference + BlockType S-Function Name "DiscreteFilter" SID "1772" Ports [1, 1] - Position [440, 260, 500, 290] - ZOrder 83 + Position [400, 245, 460, 275] + ZOrder 82 BackgroundColor "yellow" - LibraryVersion "1.386" - SourceBlock "WBToolboxLibrary/Utilities/DiscreteFilter" - SourceType "Discrete Filter" - filterType "Generic" - numCoeffs "[0]" - denCoeffs "[0]" - Fc "0" - Ts "0" - orderMedianFilter "0" + FunctionName "WBToolbox" + Parameters "'DiscreteFilter',filterType,numCoeffs,denCoeffs,Fc,Ts,orderMedianFilter,y0,u0" + SFunctionDeploymentMode off + EnableBusSupport off + MaskType "Discrete Filter" + MaskDescription "This block wraps the Filter, FirstOrderLowPassFilter, and MedianFilter from iCub::ctrl." + MaskPromptString "Type of the filter|Numerator Coefficients*|Denominator Coefficients*|Cut Frequency (Hz)|Samplin" + "g time (s)|Order|Define initial conditions|Output y0|Input u0" + MaskStyleString "popup(Generic|FirstOrderLowPassFilter|MedianFilter),edit,edit,edit,edit,edit,checkbox,edit,edit" + MaskVariables "filterType=@1;numCoeffs=@2;denCoeffs=@3;Fc=@4;Ts=@5;orderMedianFilter=@6;initStatus=@7;y0=@8;u0=@" + "9;" + MaskTunableValueString "on,on,on,on,on,on,on,on,on" + MaskCallbackString "% From: https://it.mathworks.com/help/simulink/slref/simulink.mask-class.html\nfilterType = g" + "et_param(gcb, 'filterType');\ninitStatus = get_param(gcb, 'initStatus')\np = Simulink.Mask.get(gcbh);\nhowToCoeffs " + "= p.getDialogControl('howToCoeffs');\n\n%set_param(gcb, 'initStatus','off');\nif (strcmp(initStatus,'on'))\n vis" + "_init = 'on';\nelse\n vis_init = 'off';\nend\n\nif(strcmp(filterType, 'Generic'))\n set_param(gcb, 'MaskVisib" + "ilities',{'on','on','on','off','off','off','on',vis_init,vis_init});\n howToCoeffs.Visible = 'on';\nelseif(strcm" + "p(filterType, 'FirstOrderLowPassFilter'))\n set_param(gcb, 'MaskVisibilities',{'on','off','off','on','on','off'," + "'on',vis_init,'off'});\n howToCoeffs.Visible = 'off';\nelseif(strcmp(filterType, 'MedianFilter'))\n set_param" + "(gcb, 'MaskVisibilities',{'on','off','off','off','off','on','on',vis_init,'off'});\n howToCoeffs.Visible = 'off'" + ";\nend\n\nclear filterType initStatus p howToCoeffs;||||||initStatus = get_param(gcb, 'initStatus');\nvisibilitie" + "s = get_param(gcb, 'MaskVisibilities');\nfilterType = get_param(gcb, 'filterType');\n\nif (strcmp(initStatus,'off" + "'))\n visibilities{8} = 'off';\n visibilities{9} = 'off';\nelseif (strcmp(initStatus,'on'))\n visibilities" + "{8} = 'on';\n if (strcmp(filterType,'Generic'))\n visibilities{9} = 'on';\n end\nend\n\nset_param(gcb," + " 'MaskVisibilities', visibilities);\n\nclear initStatus visibilities filterType;||" + MaskEnableString "on,on,on,on,on,on,on,on,on" + MaskVisibilityString "on,on,on,off,off,off,on,off,off" + MaskToolTipString "on,on,on,on,on,on,on,on,on" + MaskInitialization "filterType = get_param(gcb, 'filterType');\nnumCoeffs = mat2str(numCoeffs);\ndenCoeffs = ma" + "t2str(denCoeffs);\ny0 = mat2str(y0);\nu0 = mat2str(u0);" + MaskDisplay "disp('Filter')" + MaskIconFrame on + MaskIconOpaque on + MaskIconRotate "none" + MaskPortRotate "default" + MaskIconUnits "autoscale" + MaskValueString "Generic|[0]|[0]|0|0|0|off|[0]|[0]" } Block { BlockType S-Function Name "DoFs converter" SID "1771" Ports [1, 5] - Position [240, 241, 385, 309] + Position [160, 226, 305, 294] ZOrder 81 InitFcn "if ~exist('WBT_robotName','var')\n WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n W" "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n WBT_wbiFilename = 'yarpWholeBodyInterf" @@ -1124,7 +1152,7 @@ Library { "else\n visibility{2} = 'on';\n visibility{4} = 'off';\nend\nset_param(gcb, 'MaskVisibilities',visibility);\nc" "lear externalSettlingTime||||||" MaskEnableString "on,on,on,on,on,on,on" - MaskVisibilityString "on,on,on,on,on,on,off" + MaskVisibilityString "on,on,on,off,on,on,off" MaskToolTipString "on,on,on,on,on,on,on" MaskDisplay "firstDer = get_param(gcb, 'firstDerivatives');\nsecondDer = get_param(gcb, 'secondDerivatives');\ni" "nitialValues = get_param(gcb, 'explicitInitialValue');\nexternalSettlingTimeParam = get_param(gcb, 'externalSettlin" @@ -1322,20 +1350,20 @@ Library { Block { BlockType Demux Name " Demux " - SID "112::1609" + SID "112::1615" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 98 + ZOrder 104 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "112::1608" + SID "112::1614" Tag "Stateflow S-Function WBToolboxLibrary 7" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 97 + ZOrder 103 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off @@ -1350,9 +1378,9 @@ Library { Block { BlockType Terminator Name " Terminator " - SID "112::1610" + SID "112::1616" Position [460, 241, 480, 259] - ZOrder 99 + ZOrder 105 } Block { BlockType Outport @@ -1780,20 +1808,20 @@ Library { Block { BlockType Demux Name " Demux " - SID "1300::1609" + SID "1300::1615" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 86 + ZOrder 92 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "1300::1608" + SID "1300::1614" Tag "Stateflow S-Function WBToolboxLibrary 1" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 85 + ZOrder 91 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off @@ -1808,9 +1836,9 @@ Library { Block { BlockType Terminator Name " Terminator " - SID "1300::1610" + SID "1300::1616" Position [460, 241, 480, 259] - ZOrder 87 + ZOrder 93 } Block { BlockType Outport diff --git a/toolbox/WBToolboxLibrary.slx b/toolbox/WBToolboxLibrary.slx index 63ee8648630abdd844422f49136f288b536344ed..5f8c70634618ac0e6a374b02c2911a0b7a85f0c8 100644 GIT binary patch delta 27609 zcmV)BK*PU_-yrC?0uoS50|XQR000O82VVn>2;+NCXw{d@N<8sb}f&gr@5-ri_=&NJ@>#!9Ughz10CpoC7P+Aq-S zcID5IXB}55&$NOCs=y*|8AqaELK}E8x&Y%OSg$rxmWg744$c(}V=E4ja~sqORg*hy za_;J@+2ewLi!Z(hJRu~+IXIqj$8lrm7o#KUEmJXC7Dtn{2C2Z1K@Q4UOaqF4w7GOu z0asrP@6aWAK2ml9P3rlgLylln*002h; z00146xB>722Vaw_0@@M>Ukgj~YyHDGRXE~jBr)O>sEkZIU6saL8FFj}OXMa@yxC10eEm0EPGdC?u zSPO+hq3VaKxBvA#wX{d#dZuIlyxXYNcQs;<9K*CHKkv@{@$3HXe;w|;y>bjD|K*!`DZ{ zlZ%VDZ*EdGcsqA5GqQVlY&oOP{F`ji;mDbhTQYWu_i$%Up?tkoZ*}VRdbaE}Owu(C zlC9&|+0v(`r{7!T$g*g84@!;4*<$B6ceisJKkpvG2d#gREpnwlU!7i_n-;k=ZE{KM ziT|*B*l5Ovczyp*GV-+>*O{?8$Hqs~Hk>C9DZZ<*-!D#q*t^<^rF$NqzB!#+rv15g zd>Sv$S{1b`X|*YCm6c938JpLIcQo?NN5bp=ylXiVbEI1^w{T|3b#+FRb;1gUGY1my 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z+mFY7@HpMJ^zFy>=kL9-YYKmV<WbO;4VOeUx_q-@-{|bQ@_V&)z$C+MFM?ILjX77` zE&J>vSG-esue9q_4-xL#bC35LUiu;uP$H!{ZF2IXhMhV)jg`%q%Tm^@u77py!+SQJ z*{?QkRrq&uuhFMJ2Qr0{0!)kCZ#G?13pgfbJnOUO*`>=~RW9KUEc_Du$gyN{lc4y$ zJ>AY1*Ie^H>nd_4eqYbbK09Cg4exbh<NoO%Rowc-f6DCQQ{kT)eBUe0)kypJ|F(aC zHzN}R11vDOy_u5sZcAZgV3_=TrY)1U#bmWvo*=4lRuCU3jOu$I`%0!WFlf%2d~uc~ zNQP&&4AZHs$#yvsI_PG-F6?=12sCRZGXsM#FknFd$OVF(g_HAUD}uC71ZtNqp1gjx zq^~Z}{3&XjnujK{GhCX_&L9g`3L{cW7#MO>OA=EOOA_^qb9^$BiV}+|or?0yi&KmA ziVBKRZJ&H<whVI;2gl@#rQ(z3@F=20FwhYyP;(*fsn_P1{BDM-Sb#Sx8%Tl+2+sk- KWw{OqkOu&l=OwHF diff --git a/toolbox/WBToolboxLibrary_repository.mdl b/toolbox/WBToolboxLibrary_repository.mdl index 5bc9551fe..051316e82 100644 --- a/toolbox/WBToolboxLibrary_repository.mdl +++ b/toolbox/WBToolboxLibrary_repository.mdl @@ -23,7 +23,7 @@ Library { $ObjectID 2 $ClassName "Simulink.WindowInfo" IsActive [1] - Location [173.0, 232.0, 1280.0, 721.0] + Location [470.0, 205.0, 1280.0, 721.0] Object { $PropName "ModelBrowserInfo" $ObjectID 3 @@ -48,8 +48,8 @@ Library { ViewObjType "SimulinkSubsys" LoadSaveID "192" Extents [1226.0, 537.0] - ZoomFactor [1.66] - Offset [0.0, 0.0] + ZoomFactor [1.75] + Offset [10.634251290877842, 6.0] } Object { $PropName "DockComponentsInfo" @@ -76,15 +76,15 @@ Library { "////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA" } } - Created "Thu Feb 06 02:21:39 2014" + Created "Thu Feb 06 01:21:39 2014" Creator "jorhabib" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%<Auto>" LastModifiedBy "icub" ModifiedDateFormat "%<Auto>" - LastModifiedDate "Fri Aug 11 06:58:36 2017" - RTWModifiedTimeStamp 424335513 - ModelVersionFormat "1.%<AutoIncrement:382>" + LastModifiedDate "Fri Aug 11 11:55:47 2017" + RTWModifiedTimeStamp 424348077 + ModelVersionFormat "1.%<AutoIncrement:389>" ConfigurationManager "none" SampleTimeColors off SampleTimeAnnotations off @@ -1031,7 +1031,7 @@ Library { } System { Name "WBToolboxLibrary_repository" - Location [173, 232, 1453, 953] + Location [123, 132, 1403, 853] Open off ModelBrowserVisibility off ModelBrowserWidth 200 @@ -1065,7 +1065,7 @@ Library { } System { Name "Utilities" - Location [173, 232, 1453, 953] + Location [470, 205, 1750, 926] Open on ModelBrowserVisibility off ModelBrowserWidth 200 @@ -1077,7 +1077,7 @@ Library { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "166" + ZoomFactor "175" Block { BlockType SubSystem Name "DampPinv" @@ -1163,7 +1163,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "1619" + SIDHighWatermark "1625" Block { BlockType Inport Name "mat" @@ -1184,20 +1184,20 @@ Library { Block { BlockType Demux Name " Demux " - SID "107::1618" + SID "107::1624" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 98 + ZOrder 104 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "107::1617" + SID "107::1623" Tag "Stateflow S-Function WBToolboxLibrary_repository 6" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 97 + ZOrder 103 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off @@ -1213,9 +1213,9 @@ Library { Block { BlockType Terminator Name " Terminator " - SID "107::1619" + SID "107::1625" Position [460, 241, 480, 259] - ZOrder 99 + ZOrder 105 } Block { BlockType Outport @@ -1226,7 +1226,7 @@ Library { IconDisplay "Port number" } Line { - ZOrder 61 + ZOrder 71 SrcBlock "mat" SrcPort 1 Points [120, 0] @@ -1234,7 +1234,7 @@ Library { DstPort 1 } Line { - ZOrder 62 + ZOrder 72 SrcBlock "sigma" SrcPort 1 DstBlock " SFunction " @@ -1242,7 +1242,7 @@ Library { } Line { Name "DPinv" - ZOrder 63 + ZOrder 73 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -1250,14 +1250,14 @@ Library { DstPort 1 } Line { - ZOrder 64 + ZOrder 74 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 65 + ZOrder 75 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -1297,29 +1297,221 @@ Library { } } Block { - BlockType Reference + BlockType S-Function Name "DiscreteFilter" SID "1772" Ports [1, 1] - Position [440, 260, 500, 290] - ZOrder 83 + Position [400, 245, 460, 275] + ZOrder 82 BackgroundColor "yellow" - LibraryVersion "1.386" - SourceBlock "WBToolboxLibrary/Utilities/DiscreteFilter" - SourceType "Discrete Filter" - filterType "Generic" - numCoeffs "[0]" - denCoeffs "[0]" - Fc "0" - Ts "0" - orderMedianFilter "0" + FunctionName "WBToolbox" + Parameters "'DiscreteFilter',filterType,numCoeffs,denCoeffs,Fc,Ts,orderMedianFilter,y0,u0" + SFunctionDeploymentMode off + EnableBusSupport off + SFcnIsStateOwnerBlock off + Object { + $PropName "MaskObject" + $ObjectID 23 + $ClassName "Simulink.Mask" + Type "Discrete Filter" + Description "This block wraps the Filter, FirstOrderLowPassFilter, and MedianFilter from iCub::ctrl." + Initialization "filterType = get_param(gcb, 'filterType');\nnumCoeffs = mat2str(numCoeffs);\ndenCoeffs = ma" + "t2str(denCoeffs);\ny0 = mat2str(y0);\nu0 = mat2str(u0);" + Display "disp('Filter')" + Array { + Type "Simulink.MaskParameter" + Dimension 9 + Object { + $ObjectID 24 + Type "popup" + Array { + Type "Cell" + Dimension 3 + Cell "Generic" + Cell "FirstOrderLowPassFilter" + Cell "MedianFilter" + PropName "TypeOptions" + } + Name "filterType" + Prompt "Type of the filter" + Value "Generic" + Callback "% From: https://it.mathworks.com/help/simulink/slref/simulink.mask-class.html\nfilterType = get_param(gcb" + ", 'filterType');\ninitStatus = get_param(gcb, 'initStatus')\np = Simulink.Mask.get(gcbh);\nhowToCoeffs = p.getDialog" + "Control('howToCoeffs');\n\n%set_param(gcb, 'initStatus','off');\nif (strcmp(initStatus,'on'))\n vis_init = 'on';\n" + "else\n vis_init = 'off';\nend\n\nif(strcmp(filterType, 'Generic'))\n set_param(gcb, 'MaskVisibilities',{'on','" + "on','on','off','off','off','on',vis_init,vis_init});\n howToCoeffs.Visible = 'on';\nelseif(strcmp(filterType, 'Fi" + "rstOrderLowPassFilter'))\n set_param(gcb, 'MaskVisibilities',{'on','off','off','on','on','off','on',vis_init,'off" + "'});\n howToCoeffs.Visible = 'off';\nelseif(strcmp(filterType, 'MedianFilter'))\n set_param(gcb, 'MaskVisibili" + "ties',{'on','off','off','off','off','on','on',vis_init,'off'});\n howToCoeffs.Visible = 'off';\nend\n\nclear filt" + "erType initStatus p howToCoeffs;" + } + Object { + $ObjectID 25 + Type "edit" + Name "numCoeffs" + Prompt "Numerator Coefficients*" + Value "[0]" + } + Object { + $ObjectID 26 + Type "edit" + Name "denCoeffs" + Prompt "Denominator Coefficients*" + Value "[0]" + } + Object { + $ObjectID 27 + Type "edit" + Name "Fc" + Prompt "Cut Frequency (Hz)" + Value "0" + Visible "off" + } + Object { + $ObjectID 28 + Type "edit" + Name "Ts" + Prompt "Sampling time (s)" + Value "0" + Visible "off" + } + Object { + $ObjectID 29 + Type "edit" + Name "orderMedianFilter" + Prompt "Order" + Value "0" + Visible "off" + } + Object { + $ObjectID 30 + Type "checkbox" + Name "initStatus" + Prompt "Define initial conditions" + Value "off" + Callback "initStatus = get_param(gcb, 'initStatus');\nvisibilities = get_param(gcb, 'MaskVisibilities');\nfilterT" + "ype = get_param(gcb, 'filterType');\n\nif (strcmp(initStatus,'off'))\n visibilities{8} = 'off';\n visibiliti" + "es{9} = 'off';\nelseif (strcmp(initStatus,'on'))\n visibilities{8} = 'on';\n if (strcmp(filterType,'Generic'))" + "\n visibilities{9} = 'on';\n end\nend\n\nset_param(gcb, 'MaskVisibilities', visibilities);\n\nclear initSt" + "atus visibilities filterType;" + } + Object { + $ObjectID 31 + Type "edit" + Name "y0" + Prompt "Output y0" + Value "[0]" + Visible "off" + } + Object { + $ObjectID 32 + Type "edit" + Name "u0" + Prompt "Input u0" + Value "[0]" + Visible "off" + } + PropName "Parameters" + } + Array { + Type "Simulink.dialog.Group" + Dimension 2 + Object { + $ObjectID 33 + Prompt "%<MaskType>" + Object { + $PropName "DialogControls" + $ObjectID 34 + $ClassName "Simulink.dialog.Text" + Prompt "%<MaskDescription>" + Name "DescTextVar" + } + Name "DescGroupVar" + } + Object { + $ObjectID 35 + Prompt "Simulink:studio:ToolBarParametersMenu" + Array { + Type "Simulink.dialog.Control" + Dimension 8 + Object { + $ObjectID 36 + $ClassName "Simulink.dialog.parameter.Popup" + Name "filterType" + } + Object { + $ObjectID 37 + $ClassName "Simulink.dialog.parameter.Edit" + Name "numCoeffs" + } + Object { + $ObjectID 38 + $ClassName "Simulink.dialog.parameter.Edit" + Name "denCoeffs" + } + Object { + $ObjectID 39 + $ClassName "Simulink.dialog.Text" + Prompt "* The coefficients are ordered in increasing power of z^-1" + Name "howToCoeffs" + } + Object { + $ObjectID 40 + $ClassName "Simulink.dialog.parameter.Edit" + PromptLocation "left" + Name "Fc" + } + Object { + $ObjectID 41 + $ClassName "Simulink.dialog.parameter.Edit" + PromptLocation "left" + Name "Ts" + } + Object { + $ObjectID 42 + $ClassName "Simulink.dialog.parameter.Edit" + PromptLocation "left" + Name "orderMedianFilter" + } + Object { + $ObjectID 43 + $ClassName "Simulink.dialog.Group" + Array { + Type "Simulink.dialog.parameter.Control" + Dimension 3 + Object { + $ObjectID 44 + $ClassName "Simulink.dialog.parameter.CheckBox" + Name "initStatus" + } + Object { + $ObjectID 45 + $ClassName "Simulink.dialog.parameter.Edit" + Name "y0" + } + Object { + $ObjectID 46 + $ClassName "Simulink.dialog.parameter.Edit" + Name "u0" + } + PropName "DialogControls" + } + Name "Container3" + } + PropName "DialogControls" + } + Name "ParameterGroupVar" + } + PropName "DialogControls" + } + } } Block { BlockType S-Function Name "DoFs converter" SID "1771" Ports [1, 5] - Position [240, 241, 385, 309] + Position [160, 226, 305, 294] ZOrder 81 InitFcn "if ~exist('WBT_robotName','var')\n WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n W" "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n WBT_wbiFilename = 'yarpWholeBodyInterf" @@ -1331,7 +1523,7 @@ Library { SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" - $ObjectID 23 + $ObjectID 47 $ClassName "Simulink.Mask" Type "DoFs converter" Description "This block converts from a DoFs serialization to a YARP serialization or viceversa depending on" @@ -1350,7 +1542,7 @@ Library { Type "Simulink.MaskParameter" Dimension 5 Object { - $ObjectID 24 + $ObjectID 48 Type "popup" Array { Type "Cell" @@ -1364,28 +1556,28 @@ Library { Value "From YARP to WBI" } Object { - $ObjectID 25 + $ObjectID 49 Type "edit" Name "robotName" Prompt "Robot Port Name" Value "WBT_robotName" } Object { - $ObjectID 26 + $ObjectID 50 Type "edit" Name "localName" Prompt "Model Name" Value "WBT_modelName" } Object { - $ObjectID 27 + $ObjectID 51 Type "edit" Name "wbiFile" Prompt "WBI filename" Value "WBT_wbiFilename" } Object { - $ObjectID 28 + $ObjectID 52 Type "edit" Name "wbiList" Prompt "WBI list name" @@ -1397,11 +1589,11 @@ Library { Type "Simulink.dialog.Group" Dimension 2 Object { - $ObjectID 29 + $ObjectID 53 Prompt "%<MaskType>" Object { $PropName "DialogControls" - $ObjectID 30 + $ObjectID 54 $ClassName "Simulink.dialog.Text" Prompt "%<MaskDescription>" Name "DescTextVar" @@ -1409,46 +1601,46 @@ Library { Name "DescGroupVar" } Object { - $ObjectID 31 + $ObjectID 55 Prompt "Simulink:studio:ToolBarParametersMenu" Object { $PropName "DialogControls" - $ObjectID 32 + $ObjectID 56 $ClassName "Simulink.dialog.TabContainer" Array { Type "Simulink.dialog.Tab" Dimension 2 Object { - $ObjectID 33 + $ObjectID 57 Prompt "Block Parameters" Object { $PropName "DialogControls" - $ObjectID 34 + $ObjectID 58 $ClassName "Simulink.dialog.parameter.Popup" Name "yarp2WBIOption" } Name "Container4" } Object { - $ObjectID 35 + $ObjectID 59 Prompt "WBI Parameters" Array { Type "Simulink.dialog.parameter.Edit" Dimension 4 Object { - $ObjectID 36 + $ObjectID 60 Name "robotName" } Object { - $ObjectID 37 + $ObjectID 61 Name "localName" } Object { - $ObjectID 38 + $ObjectID 62 Name "wbiFile" } Object { - $ObjectID 39 + $ObjectID 63 Name "wbiList" } PropName "DialogControls" @@ -1480,7 +1672,7 @@ Library { SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" - $ObjectID 40 + $ObjectID 64 $ClassName "Simulink.Mask" Type "Minimum Jerk Trajectory Generator" Description "This block wraps the minJerkTrajGen class from iCub::ctrl::minJerkTrajGen.\n\nThe Minimum Jerk " @@ -1503,7 +1695,7 @@ Library { Type "Simulink.MaskParameter" Dimension 7 Object { - $ObjectID 41 + $ObjectID 65 Type "checkbox" Name "externalSettlingTime" Prompt "External Settling Time" @@ -1514,42 +1706,43 @@ Library { "SettlingTime" } Object { - $ObjectID 42 + $ObjectID 66 Type "edit" Name "settlingTime" Prompt "Settling Time" Value "3" } Object { - $ObjectID 43 + $ObjectID 67 Type "edit" Name "sampleTime" Prompt "Sample Time" Value "0.01" } Object { - $ObjectID 44 + $ObjectID 68 Type "checkbox" Name "resetOnSettlingTime" Prompt "Reset on Settling Time Changes" Value "off" + Visible "off" } Object { - $ObjectID 45 + $ObjectID 69 Type "checkbox" Name "firstDerivatives" Prompt "Output First Derivative" Value "on" } Object { - $ObjectID 46 + $ObjectID 70 Type "checkbox" Name "secondDerivatives" Prompt "Output Second Derivative" Value "on" } Object { - $ObjectID 47 + $ObjectID 71 Type "checkbox" Name "explicitInitialValue" Prompt "Explicit Initial Value" @@ -1562,11 +1755,11 @@ Library { Type "Simulink.dialog.Group" Dimension 2 Object { - $ObjectID 48 + $ObjectID 72 Prompt "%<MaskType>" Object { $PropName "DialogControls" - $ObjectID 49 + $ObjectID 73 $ClassName "Simulink.dialog.Text" Prompt "%<MaskDescription>" Name "DescTextVar" @@ -1574,38 +1767,38 @@ Library { Name "DescGroupVar" } Object { - $ObjectID 50 + $ObjectID 74 Prompt "Simulink:studio:ToolBarParametersMenu" Object { $PropName "DialogControls" - $ObjectID 51 + $ObjectID 75 $ClassName "Simulink.dialog.TabContainer" Array { Type "Simulink.dialog.Tab" Dimension 2 Object { - $ObjectID 52 + $ObjectID 76 Prompt "Trajectory Parameters" Array { Type "Simulink.dialog.parameter.Control" Dimension 4 Object { - $ObjectID 53 + $ObjectID 77 $ClassName "Simulink.dialog.parameter.CheckBox" Name "externalSettlingTime" } Object { - $ObjectID 54 + $ObjectID 78 $ClassName "Simulink.dialog.parameter.Edit" Name "settlingTime" } Object { - $ObjectID 55 + $ObjectID 79 $ClassName "Simulink.dialog.parameter.Edit" Name "sampleTime" } Object { - $ObjectID 56 + $ObjectID 80 $ClassName "Simulink.dialog.parameter.CheckBox" Name "resetOnSettlingTime" } @@ -1614,21 +1807,21 @@ Library { Name "Tab1" } Object { - $ObjectID 57 + $ObjectID 81 Prompt "Input/Output" Array { Type "Simulink.dialog.parameter.CheckBox" Dimension 3 Object { - $ObjectID 58 + $ObjectID 82 Name "firstDerivatives" } Object { - $ObjectID 59 + $ObjectID 83 Name "secondDerivatives" } Object { - $ObjectID 60 + $ObjectID 84 Name "explicitInitialValue" } PropName "DialogControls" @@ -1662,7 +1855,7 @@ Library { SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" - $ObjectID 61 + $ObjectID 85 $ClassName "Simulink.Mask" Type "Real Time Synchronizer" Description "This block slows down the simulation trying to match the period specified \nas parameter (in se" @@ -1670,7 +1863,7 @@ Library { Display "disp('Real Time Synchronizer')" Object { $PropName "Parameters" - $ObjectID 62 + $ObjectID 86 $ClassName "Simulink.MaskParameter" Type "edit" Name "period" @@ -1695,7 +1888,7 @@ Library { SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" - $ObjectID 63 + $ObjectID 87 $ClassName "Simulink.Mask" Type "Simulator Synchronizer" Description "This block synchronizes with the external simulation on a simulator \n(only Gazebo is supported" @@ -1705,21 +1898,21 @@ Library { Type "Simulink.MaskParameter" Dimension 3 Object { - $ObjectID 64 + $ObjectID 88 Type "edit" Name "period" Prompt "Controller Period (in seconds)" Value "0.01" } Object { - $ObjectID 65 + $ObjectID 89 Type "edit" Name "serverPortName" Prompt "Server Port Name" Value "'/clock/rpc'" } Object { - $ObjectID 66 + $ObjectID 90 Type "edit" Name "clientPortName" Prompt "Client Port Name" @@ -1741,11 +1934,11 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 67 + $ObjectID 91 $ClassName "Simulink.Mask" Object { $PropName "Parameters" - $ObjectID 68 + $ObjectID 92 $ClassName "Simulink.MaskParameter" Type "edit" Name "tol" @@ -1814,7 +2007,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "1610" + SIDHighWatermark "1616" Block { BlockType Inport Name "mat" @@ -1835,20 +2028,20 @@ Library { Block { BlockType Demux Name " Demux " - SID "112::1609" + SID "112::1615" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 98 + ZOrder 104 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "112::1608" + SID "112::1614" Tag "Stateflow S-Function WBToolboxLibrary_repository 7" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 97 + ZOrder 103 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off @@ -1864,9 +2057,9 @@ Library { Block { BlockType Terminator Name " Terminator " - SID "112::1610" + SID "112::1616" Position [460, 241, 480, 259] - ZOrder 99 + ZOrder 105 } Block { BlockType Outport @@ -1877,7 +2070,7 @@ Library { IconDisplay "Port number" } Line { - ZOrder 61 + ZOrder 71 SrcBlock "mat" SrcPort 1 Points [120, 0] @@ -1885,7 +2078,7 @@ Library { DstPort 1 } Line { - ZOrder 62 + ZOrder 72 SrcBlock "tol" SrcPort 1 DstBlock " SFunction " @@ -1893,7 +2086,7 @@ Library { } Line { Name "TPinv" - ZOrder 63 + ZOrder 73 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -1901,14 +2094,14 @@ Library { DstPort 1 } Line { - ZOrder 64 + ZOrder 74 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 65 + ZOrder 75 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -1962,7 +2155,7 @@ Library { SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" - $ObjectID 69 + $ObjectID 93 $ClassName "Simulink.Mask" Type "YARP Read" Description "This block behaves as the command 'yarp read'. \nBy default it has the option 'Autoconnect' act" @@ -1980,35 +2173,35 @@ Library { Type "Simulink.MaskParameter" Dimension 6 Object { - $ObjectID 70 + $ObjectID 94 Type "edit" Name "portName" Prompt "Source Port Name" Value "'/portname'" } Object { - $ObjectID 71 + $ObjectID 95 Type "edit" Name "signalSize" Prompt "Port Size" Value "1" } Object { - $ObjectID 72 + $ObjectID 96 Type "checkbox" Name "blocking" Prompt "Blocking Read" Value "off" } Object { - $ObjectID 73 + $ObjectID 97 Type "checkbox" Name "timestamp" Prompt "Read Timestamp" Value "on" } Object { - $ObjectID 74 + $ObjectID 98 Type "checkbox" Name "autoconnect" Prompt "Autoconnect" @@ -2020,7 +2213,7 @@ Library { "t_string" } Object { - $ObjectID 75 + $ObjectID 99 Type "checkbox" Name "errorOnConnection" Prompt "Error on missing connection" @@ -2045,7 +2238,7 @@ Library { SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" - $ObjectID 76 + $ObjectID 100 $ClassName "Simulink.Mask" Type "YARP Write" Description "This block behaves as the command 'yarp write'. \n\nBy default this block opens a port names as" @@ -2058,14 +2251,14 @@ Library { Type "Simulink.MaskParameter" Dimension 3 Object { - $ObjectID 77 + $ObjectID 101 Type "edit" Name "portName" Prompt "Opened Port Name" Value "'/portname'" } Object { - $ObjectID 78 + $ObjectID 102 Type "checkbox" Name "autoconnect" Prompt "Autoconnect" @@ -2076,7 +2269,7 @@ Library { "';'off'});\nend\nset_param(gcb, 'MaskPrompts', prompt_string);\nclear autoconnect_val prompt_string" } Object { - $ObjectID 79 + $ObjectID 103 Type "checkbox" Name "errorOnConnection" Prompt "Error on missing connection" @@ -2099,7 +2292,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 80 + $ObjectID 104 $ClassName "Simulink.Mask" Type "Errors" Description "Computes two kinds of errors. The first is just the difference between x\nand y while the secon" @@ -2242,7 +2435,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 81 + $ObjectID 105 $ClassName "Simulink.Mask" Type "Holder" Description "This block holds the first input value during the simulation." @@ -2322,7 +2515,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "1610" + SIDHighWatermark "1616" Block { BlockType Inport Name "s" @@ -2343,20 +2536,20 @@ Library { Block { BlockType Demux Name " Demux " - SID "1300::1609" + SID "1300::1615" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 86 + ZOrder 92 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "1300::1608" + SID "1300::1614" Tag "Stateflow S-Function WBToolboxLibrary_repository 1" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 85 + ZOrder 91 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off @@ -2372,9 +2565,9 @@ Library { Block { BlockType Terminator Name " Terminator " - SID "1300::1610" + SID "1300::1616" Position [460, 241, 480, 259] - ZOrder 87 + ZOrder 93 } Block { BlockType Outport @@ -2385,7 +2578,7 @@ Library { IconDisplay "Port number" } Line { - ZOrder 61 + ZOrder 71 SrcBlock "s" SrcPort 1 Points [120, 0] @@ -2393,7 +2586,7 @@ Library { DstPort 1 } Line { - ZOrder 62 + ZOrder 72 SrcBlock "unused" SrcPort 1 DstBlock " SFunction " @@ -2401,7 +2594,7 @@ Library { } Line { Name "s0" - ZOrder 63 + ZOrder 73 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -2409,14 +2602,14 @@ Library { DstPort 1 } Line { - ZOrder 64 + ZOrder 74 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 65 + ZOrder 75 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -2477,7 +2670,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 82 + $ObjectID 106 $ClassName "Simulink.Mask" Display "image(imread('wholeBodyActuators.png'),'center')" } @@ -2511,7 +2704,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 83 + $ObjectID 107 $ClassName "Simulink.Mask" Type "Set Low Level PIDs" Description "This block sets the low level PID values for the robot actuators.\n\nIf only one gain file is s" @@ -2530,7 +2723,7 @@ Library { Type "Simulink.MaskParameter" Dimension 6 Object { - $ObjectID 84 + $ObjectID 108 Type "edit" Name "pidParameters" Prompt "PID parameter" @@ -2538,7 +2731,7 @@ Library { Tunable "off" } Object { - $ObjectID 85 + $ObjectID 109 Type "popup" Array { Type "Cell" @@ -2558,7 +2751,7 @@ Library { "kStr, 'Torque')\n set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\nend\nclear maskStr" } Object { - $ObjectID 86 + $ObjectID 110 Type "edit" Name "robotName" Prompt "Robot Port Name" @@ -2566,7 +2759,7 @@ Library { Tunable "off" } Object { - $ObjectID 87 + $ObjectID 111 Type "edit" Name "localName" Prompt "Model Name" @@ -2574,7 +2767,7 @@ Library { Tunable "off" } Object { - $ObjectID 88 + $ObjectID 112 Type "edit" Name "wbiFile" Prompt "WBI filename" @@ -2582,7 +2775,7 @@ Library { Tunable "off" } Object { - $ObjectID 89 + $ObjectID 113 Type "edit" Name "wbiList" Prompt "WBI list name" @@ -2595,11 +2788,11 @@ Library { Type "Simulink.dialog.Group" Dimension 2 Object { - $ObjectID 90 + $ObjectID 114 Prompt "%<MaskType>" Object { $PropName "DialogControls" - $ObjectID 91 + $ObjectID 115 $ClassName "Simulink.dialog.Text" Prompt "%<MaskDescription>" Name "DescTextVar" @@ -2607,29 +2800,29 @@ Library { Name "DescGroupVar" } Object { - $ObjectID 92 + $ObjectID 116 Prompt "Simulink:studio:ToolBarParametersMenu" Object { $PropName "DialogControls" - $ObjectID 93 + $ObjectID 117 $ClassName "Simulink.dialog.TabContainer" Array { Type "Simulink.dialog.Tab" Dimension 2 Object { - $ObjectID 94 + $ObjectID 118 Prompt "Block parameters" Array { Type "Simulink.dialog.parameter.Control" Dimension 2 Object { - $ObjectID 95 + $ObjectID 119 $ClassName "Simulink.dialog.parameter.Edit" PromptLocation "left" Name "pidParameters" } Object { - $ObjectID 96 + $ObjectID 120 $ClassName "Simulink.dialog.parameter.Popup" Name "pidType" } @@ -2638,25 +2831,25 @@ Library { Name "Container8" } Object { - $ObjectID 97 + $ObjectID 121 Prompt "WBI parameters" Array { Type "Simulink.dialog.parameter.Edit" Dimension 4 Object { - $ObjectID 98 + $ObjectID 122 Name "robotName" } Object { - $ObjectID 99 + $ObjectID 123 Name "localName" } Object { - $ObjectID 100 + $ObjectID 124 Name "wbiFile" } Object { - $ObjectID 101 + $ObjectID 125 Name "wbiList" } PropName "DialogControls" @@ -2717,7 +2910,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 102 + $ObjectID 126 $ClassName "Simulink.Mask" Type "Set References" Description "This block sets the references for the robot actuators.\nThe type of control mode is specified " @@ -2734,7 +2927,7 @@ Library { Type "Simulink.MaskParameter" Dimension 7 Object { - $ObjectID 103 + $ObjectID 127 Type "popup" Array { Type "Cell" @@ -2758,7 +2951,7 @@ Library { "'Open Loop')\n set_param(gcb,'BackgroundColor', '[0.98, 0.98, 0.98, 1.0]');\nend\nclear maskStr" } Object { - $ObjectID 104 + $ObjectID 128 Type "popup" Array { Type "Cell" @@ -2775,7 +2968,7 @@ Library { ";'on';'on';'on';'on'});\nend\nclear subOrFull " } Object { - $ObjectID 105 + $ObjectID 129 Type "edit" Name "controlledJoints" Prompt "Controlled Joint List" @@ -2783,7 +2976,7 @@ Library { Visible "off" } Object { - $ObjectID 106 + $ObjectID 130 Type "edit" Name "robotName" Prompt "Robot Port Name" @@ -2791,7 +2984,7 @@ Library { Tunable "off" } Object { - $ObjectID 107 + $ObjectID 131 Type "edit" Name "localName" Prompt "Model Name" @@ -2799,7 +2992,7 @@ Library { Tunable "off" } Object { - $ObjectID 108 + $ObjectID 132 Type "edit" Name "wbiFile" Prompt "WBI filename" @@ -2807,7 +3000,7 @@ Library { Tunable "off" } Object { - $ObjectID 109 + $ObjectID 133 Type "edit" Name "wbiList" Prompt "WBI list name" @@ -2820,11 +3013,11 @@ Library { Type "Simulink.dialog.Group" Dimension 2 Object { - $ObjectID 110 + $ObjectID 134 Prompt "%<MaskType>" Object { $PropName "DialogControls" - $ObjectID 111 + $ObjectID 135 $ClassName "Simulink.dialog.Text" Prompt "%<MaskDescription>" Name "DescTextVar" @@ -2832,33 +3025,33 @@ Library { Name "DescGroupVar" } Object { - $ObjectID 112 + $ObjectID 136 Prompt "Simulink:studio:ToolBarParametersMenu" Object { $PropName "DialogControls" - $ObjectID 113 + $ObjectID 137 $ClassName "Simulink.dialog.TabContainer" Array { Type "Simulink.dialog.Tab" Dimension 2 Object { - $ObjectID 114 + $ObjectID 138 Prompt "Block parameters" Array { Type "Simulink.dialog.parameter.Control" Dimension 3 Object { - $ObjectID 115 + $ObjectID 139 $ClassName "Simulink.dialog.parameter.Popup" Name "controlType" } Object { - $ObjectID 116 + $ObjectID 140 $ClassName "Simulink.dialog.parameter.Popup" Name "fullOrSubControl" } Object { - $ObjectID 117 + $ObjectID 141 $ClassName "Simulink.dialog.parameter.Edit" Name "controlledJoints" } @@ -2867,25 +3060,25 @@ Library { Name "Container8" } Object { - $ObjectID 118 + $ObjectID 142 Prompt "WBI parameters" Array { Type "Simulink.dialog.parameter.Edit" Dimension 4 Object { - $ObjectID 119 + $ObjectID 143 Name "robotName" } Object { - $ObjectID 120 + $ObjectID 144 Name "localName" } Object { - $ObjectID 121 + $ObjectID 145 Name "wbiFile" } Object { - $ObjectID 122 + $ObjectID 146 Name "wbiList" } PropName "DialogControls" @@ -2962,7 +3155,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 123 + $ObjectID 147 $ClassName "Simulink.Mask" Display "image(imread('wholeBodyModel.png'),'center')" } @@ -2993,7 +3186,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 124 + $ObjectID 148 $ClassName "Simulink.Mask" Display "image(imread('Dynamics.png'))" } @@ -3027,7 +3220,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 125 + $ObjectID 149 $ClassName "Simulink.Mask" Type "Centroidal Momentum" Description "This block computed the 6 element centroidal momentum, as defined in:\n\"Centroidal dynamics of a huma" @@ -3046,7 +3239,7 @@ Library { Type "Simulink.MaskParameter" Dimension 4 Object { - $ObjectID 126 + $ObjectID 150 Type "edit" Name "robotName" Prompt "Robot Port Name" @@ -3054,7 +3247,7 @@ Library { Tunable "off" } Object { - $ObjectID 127 + $ObjectID 151 Type "edit" Name "localName" Prompt "Model Name" @@ -3062,7 +3255,7 @@ Library { Tunable "off" } Object { - $ObjectID 128 + $ObjectID 152 Type "edit" Name "wbiFile" Prompt "WBI filename" @@ -3070,7 +3263,7 @@ Library { Tunable "off" } Object { - $ObjectID 129 + $ObjectID 153 Type "edit" Name "wbiList" Prompt "WBI list name" @@ -3203,7 +3396,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 130 + $ObjectID 154 $ClassName "Simulink.Mask" Type "Get Generalized Bias Forces" Description "This block retrieves the generalied bias forces of the robot.\n\nParameter:\n- Explicit Gravity. If Tr" @@ -3228,7 +3421,7 @@ Library { Type "Simulink.MaskParameter" Dimension 5 Object { - $ObjectID 131 + $ObjectID 155 Type "edit" Name "robotName" Prompt "Robot Port Name" @@ -3236,7 +3429,7 @@ Library { Tunable "off" } Object { - $ObjectID 132 + $ObjectID 156 Type "edit" Name "localName" Prompt "Model Name" @@ -3244,7 +3437,7 @@ Library { Tunable "off" } Object { - $ObjectID 133 + $ObjectID 157 Type "edit" Name "wbiFile" Prompt "WBI filename" @@ -3252,7 +3445,7 @@ Library { Tunable "off" } Object { - $ObjectID 134 + $ObjectID 158 Type "edit" Name "wbiList" Prompt "WBI list name" @@ -3260,7 +3453,7 @@ Library { Tunable "off" } Object { - $ObjectID 135 + $ObjectID 159 Type "checkbox" Name "explicitGravity" Prompt "Explicit Gravity" @@ -3438,7 +3631,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 136 + $ObjectID 160 $ClassName "Simulink.Mask" Type "Gravity bias" Description "This block compute the generalized bias forces due to the gravity\n\nParameter:\n- Explicit Gravity. I" @@ -3461,7 +3654,7 @@ Library { Type "Simulink.MaskParameter" Dimension 5 Object { - $ObjectID 137 + $ObjectID 161 Type "edit" Name "robotName" Prompt "Robot Port Name" @@ -3469,7 +3662,7 @@ Library { Tunable "off" } Object { - $ObjectID 138 + $ObjectID 162 Type "edit" Name "localName" Prompt "Model Name" @@ -3477,7 +3670,7 @@ Library { Tunable "off" } Object { - $ObjectID 139 + $ObjectID 163 Type "edit" Name "wbiFile" Prompt "WBI filename" @@ -3485,7 +3678,7 @@ Library { Tunable "off" } Object { - $ObjectID 140 + $ObjectID 164 Type "edit" Name "wbiList" Prompt "WBI list name" @@ -3493,7 +3686,7 @@ Library { Tunable "off" } Object { - $ObjectID 141 + $ObjectID 165 Type "checkbox" Name "explicitGravity" Prompt "Explicit Gravity" @@ -3658,7 +3851,7 @@ Library { SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" - $ObjectID 142 + $ObjectID 166 $ClassName "Simulink.Mask" Type "Inverse Dynamics" Description "This block compute the inverse dynamics of the robot.\n\nParameter:\n- Explicit Gravity. If True, an a" @@ -3684,35 +3877,35 @@ Library { Type "Simulink.MaskParameter" Dimension 5 Object { - $ObjectID 143 + $ObjectID 167 Type "edit" Name "robotName" Prompt "Robot Port Name" Value "WBT_robotName" } Object { - $ObjectID 144 + $ObjectID 168 Type "edit" Name "localName" Prompt "Model Name" Value "WBT_modelName" } Object { - $ObjectID 145 + $ObjectID 169 Type "edit" Name "wbiFile" Prompt "WBI filename" Value "WBT_wbiFilename" } Object { - $ObjectID 146 + $ObjectID 170 Type "edit" Name "wbiList" Prompt "WBI list name" Value "WBT_wbiList" } Object { - $ObjectID 147 + $ObjectID 171 Type "checkbox" Name "explicitGravity" Prompt "Explicit Gravity" @@ -3737,7 +3930,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 148 + $ObjectID 172 $ClassName "Simulink.Mask" Type "Mass Matrix" Description "This block retrieves the robot mass matrix.\n\nAssuming DoFs is the number of degrees of freedom of th" @@ -3753,7 +3946,7 @@ Library { Type "Simulink.MaskParameter" Dimension 4 Object { - $ObjectID 149 + $ObjectID 173 Type "edit" Name "robotName" Prompt "Robot Port Name" @@ -3761,7 +3954,7 @@ Library { Tunable "off" } Object { - $ObjectID 150 + $ObjectID 174 Type "edit" Name "localName" Prompt "Model Name" @@ -3769,7 +3962,7 @@ Library { Tunable "off" } Object { - $ObjectID 151 + $ObjectID 175 Type "edit" Name "wbiFile" Prompt "WBI filename" @@ -3777,7 +3970,7 @@ Library { Tunable "off" } Object { - $ObjectID 152 + $ObjectID 176 Type "edit" Name "wbiList" Prompt "WBI list name" @@ -3879,7 +4072,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 153 + $ObjectID 177 $ClassName "Simulink.Mask" Display "image(imread('jacobian.png'))" } @@ -3913,7 +4106,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 154 + $ObjectID 178 $ClassName "Simulink.Mask" Type "DotJ Nu" Description "This block computes the product between the time derivative of the\n Jacobian of the specified" @@ -3937,14 +4130,14 @@ Library { Type "Simulink.MaskParameter" Dimension 5 Object { - $ObjectID 155 + $ObjectID 179 Type "edit" Name "frameName" Prompt "Frame name" Value "'frame'" } Object { - $ObjectID 156 + $ObjectID 180 Type "edit" Name "robotName" Prompt "Robot Port Name" @@ -3952,7 +4145,7 @@ Library { Tunable "off" } Object { - $ObjectID 157 + $ObjectID 181 Type "edit" Name "localName" Prompt "Model Name" @@ -3960,7 +4153,7 @@ Library { Tunable "off" } Object { - $ObjectID 158 + $ObjectID 182 Type "edit" Name "wbiFile" Prompt "WBI filename" @@ -3968,7 +4161,7 @@ Library { Tunable "off" } Object { - $ObjectID 159 + $ObjectID 183 Type "edit" Name "wbiList" Prompt "WBI list name" @@ -3981,11 +4174,11 @@ Library { Type "Simulink.dialog.Group" Dimension 2 Object { - $ObjectID 160 + $ObjectID 184 Prompt "%<MaskType>" Object { $PropName "DialogControls" - $ObjectID 161 + $ObjectID 185 $ClassName "Simulink.dialog.Text" Prompt "%<MaskDescription>" Name "DescTextVar" @@ -3993,46 +4186,46 @@ Library { Name "DescGroupVar" } Object { - $ObjectID 162 + $ObjectID 186 Prompt "Simulink:studio:ToolBarParametersMenu" Object { $PropName "DialogControls" - $ObjectID 163 + $ObjectID 187 $ClassName "Simulink.dialog.TabContainer" Array { Type "Simulink.dialog.Tab" Dimension 2 Object { - $ObjectID 164 + $ObjectID 188 Prompt "Block parameters" Object { $PropName "DialogControls" - $ObjectID 165 + $ObjectID 189 $ClassName "Simulink.dialog.parameter.Edit" Name "frameName" } Name "Container8" } Object { - $ObjectID 166 + $ObjectID 190 Prompt "WBI parameters" Array { Type "Simulink.dialog.parameter.Edit" Dimension 4 Object { - $ObjectID 167 + $ObjectID 191 Name "robotName" } Object { - $ObjectID 168 + $ObjectID 192 Name "localName" } Object { - $ObjectID 169 + $ObjectID 193 Name "wbiFile" } Object { - $ObjectID 170 + $ObjectID 194 Name "wbiList" } PropName "DialogControls" @@ -4172,7 +4365,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 171 + $ObjectID 195 $ClassName "Simulink.Mask" Type "Jacobian" Description "This block retrieves the Jacobian of the specified frame.\n\nAssuming DoFs is the number of degrees of" @@ -4192,14 +4385,14 @@ Library { Type "Simulink.MaskParameter" Dimension 5 Object { - $ObjectID 172 + $ObjectID 196 Type "edit" Name "frameName" Prompt "Frame name" Value "'frame'" } Object { - $ObjectID 173 + $ObjectID 197 Type "edit" Name "robotName" Prompt "Robot Port Name" @@ -4207,7 +4400,7 @@ Library { Tunable "off" } Object { - $ObjectID 174 + $ObjectID 198 Type "edit" Name "localName" Prompt "Model Name" @@ -4215,7 +4408,7 @@ Library { Tunable "off" } Object { - $ObjectID 175 + $ObjectID 199 Type "edit" Name "wbiFile" Prompt "WBI filename" @@ -4223,7 +4416,7 @@ Library { Tunable "off" } Object { - $ObjectID 176 + $ObjectID 200 Type "edit" Name "wbiList" Prompt "WBI list name" @@ -4236,11 +4429,11 @@ Library { Type "Simulink.dialog.Group" Dimension 2 Object { - $ObjectID 177 + $ObjectID 201 Prompt "%<MaskType>" Object { $PropName "DialogControls" - $ObjectID 178 + $ObjectID 202 $ClassName "Simulink.dialog.Text" Prompt "%<MaskDescription>" Name "DescTextVar" @@ -4248,46 +4441,46 @@ Library { Name "DescGroupVar" } Object { - $ObjectID 179 + $ObjectID 203 Prompt "Simulink:studio:ToolBarParametersMenu" Object { $PropName "DialogControls" - $ObjectID 180 + $ObjectID 204 $ClassName "Simulink.dialog.TabContainer" Array { Type "Simulink.dialog.Tab" Dimension 2 Object { - $ObjectID 181 + $ObjectID 205 Prompt "Block parameters" Object { $PropName "DialogControls" - $ObjectID 182 + $ObjectID 206 $ClassName "Simulink.dialog.parameter.Edit" Name "frameName" } Name "Container8" } Object { - $ObjectID 183 + $ObjectID 207 Prompt "WBI parameters" Array { Type "Simulink.dialog.parameter.Edit" Dimension 4 Object { - $ObjectID 184 + $ObjectID 208 Name "robotName" } Object { - $ObjectID 185 + $ObjectID 209 Name "localName" } Object { - $ObjectID 186 + $ObjectID 210 Name "wbiFile" } Object { - $ObjectID 187 + $ObjectID 211 Name "wbiList" } PropName "DialogControls" @@ -4395,7 +4588,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 188 + $ObjectID 212 $ClassName "Simulink.Mask" Display "image(imread('forwardKinematics.png'))" } @@ -4429,7 +4622,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 189 + $ObjectID 213 $ClassName "Simulink.Mask" Type "Forward Kinematics" Description "This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of " @@ -4449,14 +4642,14 @@ Library { Type "Simulink.MaskParameter" Dimension 5 Object { - $ObjectID 190 + $ObjectID 214 Type "edit" Name "frameName" Prompt "Frame name" Value "'frame'" } Object { - $ObjectID 191 + $ObjectID 215 Type "edit" Name "robotName" Prompt "Robot Port Name" @@ -4464,7 +4657,7 @@ Library { Tunable "off" } Object { - $ObjectID 192 + $ObjectID 216 Type "edit" Name "localName" Prompt "Model Name" @@ -4472,7 +4665,7 @@ Library { Tunable "off" } Object { - $ObjectID 193 + $ObjectID 217 Type "edit" Name "wbiFile" Prompt "WBI filename" @@ -4480,7 +4673,7 @@ Library { Tunable "off" } Object { - $ObjectID 194 + $ObjectID 218 Type "edit" Name "wbiList" Prompt "WBI list name" @@ -4493,11 +4686,11 @@ Library { Type "Simulink.dialog.Group" Dimension 2 Object { - $ObjectID 195 + $ObjectID 219 Prompt "%<MaskType>" Object { $PropName "DialogControls" - $ObjectID 196 + $ObjectID 220 $ClassName "Simulink.dialog.Text" Prompt "%<MaskDescription>" Name "DescTextVar" @@ -4505,46 +4698,46 @@ Library { Name "DescGroupVar" } Object { - $ObjectID 197 + $ObjectID 221 Prompt "Simulink:studio:ToolBarParametersMenu" Object { $PropName "DialogControls" - $ObjectID 198 + $ObjectID 222 $ClassName "Simulink.dialog.TabContainer" Array { Type "Simulink.dialog.Tab" Dimension 2 Object { - $ObjectID 199 + $ObjectID 223 Prompt "Block parameters" Object { $PropName "DialogControls" - $ObjectID 200 + $ObjectID 224 $ClassName "Simulink.dialog.parameter.Edit" Name "frameName" } Name "Container8" } Object { - $ObjectID 201 + $ObjectID 225 Prompt "WBI parameters" Array { Type "Simulink.dialog.parameter.Edit" Dimension 4 Object { - $ObjectID 202 + $ObjectID 226 Name "robotName" } Object { - $ObjectID 203 + $ObjectID 227 Name "localName" } Object { - $ObjectID 204 + $ObjectID 228 Name "wbiFile" } Object { - $ObjectID 205 + $ObjectID 229 Name "wbiList" } PropName "DialogControls" @@ -4653,7 +4846,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 206 + $ObjectID 230 $ClassName "Simulink.Mask" Type "Forward Kinematics" Description "This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of " @@ -4677,21 +4870,21 @@ Library { Type "Simulink.MaskParameter" Dimension 7 Object { - $ObjectID 207 + $ObjectID 231 Type "edit" Name "baseFrame" Prompt "Base Frame" Value "'root_link'" } Object { - $ObjectID 208 + $ObjectID 232 Type "edit" Name "endEffFrame" Prompt "End Effector frame" Value "'l_sole'" } Object { - $ObjectID 209 + $ObjectID 233 Type "popup" Array { Type "Cell" @@ -4705,7 +4898,7 @@ Library { Value "Full Constraint (Position and Orientation)" } Object { - $ObjectID 210 + $ObjectID 234 Type "edit" Name "robotName" Prompt "Robot Port Name" @@ -4713,7 +4906,7 @@ Library { Tunable "off" } Object { - $ObjectID 211 + $ObjectID 235 Type "edit" Name "localName" Prompt "Model Name" @@ -4721,7 +4914,7 @@ Library { Tunable "off" } Object { - $ObjectID 212 + $ObjectID 236 Type "edit" Name "wbiFile" Prompt "WBI filename" @@ -4729,7 +4922,7 @@ Library { Tunable "off" } Object { - $ObjectID 213 + $ObjectID 237 Type "edit" Name "wbiList" Prompt "WBI list name" @@ -4742,11 +4935,11 @@ Library { Type "Simulink.dialog.Group" Dimension 2 Object { - $ObjectID 214 + $ObjectID 238 Prompt "%<MaskType>" Object { $PropName "DialogControls" - $ObjectID 215 + $ObjectID 239 $ClassName "Simulink.dialog.Text" Prompt "%<MaskDescription>" Name "DescTextVar" @@ -4754,34 +4947,34 @@ Library { Name "DescGroupVar" } Object { - $ObjectID 216 + $ObjectID 240 Prompt "Simulink:studio:ToolBarParametersMenu" Object { $PropName "DialogControls" - $ObjectID 217 + $ObjectID 241 $ClassName "Simulink.dialog.TabContainer" Array { Type "Simulink.dialog.Tab" Dimension 2 Object { - $ObjectID 218 + $ObjectID 242 Prompt "Block parameters" Array { Type "Simulink.dialog.parameter.Control" Dimension 3 Object { - $ObjectID 219 + $ObjectID 243 $ClassName "Simulink.dialog.parameter.Edit" PromptLocation "left" Name "baseFrame" } Object { - $ObjectID 220 + $ObjectID 244 $ClassName "Simulink.dialog.parameter.Edit" Name "endEffFrame" } Object { - $ObjectID 221 + $ObjectID 245 $ClassName "Simulink.dialog.parameter.Popup" Name "optOption" } @@ -4790,25 +4983,25 @@ Library { Name "Container8" } Object { - $ObjectID 222 + $ObjectID 246 Prompt "WBI parameters" Array { Type "Simulink.dialog.parameter.Edit" Dimension 4 Object { - $ObjectID 223 + $ObjectID 247 Name "robotName" } Object { - $ObjectID 224 + $ObjectID 248 Name "localName" } Object { - $ObjectID 225 + $ObjectID 249 Name "wbiFile" } Object { - $ObjectID 226 + $ObjectID 250 Name "wbiList" } PropName "DialogControls" @@ -4947,7 +5140,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 227 + $ObjectID 251 $ClassName "Simulink.Mask" Type "Forward Kinematics" Description "This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of " @@ -4973,14 +5166,14 @@ Library { Type "Simulink.MaskParameter" Dimension 3 Object { - $ObjectID 228 + $ObjectID 252 Type "edit" Name "solverName" Prompt "Solver Name" Value "'/cartesianSolver'" } Object { - $ObjectID 229 + $ObjectID 253 Type "edit" Name "dofs" Prompt "#Dofs" @@ -4988,7 +5181,7 @@ Library { Tunable "off" } Object { - $ObjectID 230 + $ObjectID 254 Type "popup" Array { Type "Cell" @@ -5007,11 +5200,11 @@ Library { Type "Simulink.dialog.Group" Dimension 2 Object { - $ObjectID 231 + $ObjectID 255 Prompt "%<MaskType>" Object { $PropName "DialogControls" - $ObjectID 232 + $ObjectID 256 $ClassName "Simulink.dialog.Text" Prompt "%<MaskDescription>" Name "DescTextVar" @@ -5019,33 +5212,33 @@ Library { Name "DescGroupVar" } Object { - $ObjectID 233 + $ObjectID 257 Prompt "Simulink:studio:ToolBarParametersMenu" Object { $PropName "DialogControls" - $ObjectID 234 + $ObjectID 258 $ClassName "Simulink.dialog.TabContainer" Object { $PropName "DialogControls" - $ObjectID 235 + $ObjectID 259 $ClassName "Simulink.dialog.Tab" Prompt "Block parameters" Array { Type "Simulink.dialog.parameter.Control" Dimension 3 Object { - $ObjectID 236 + $ObjectID 260 $ClassName "Simulink.dialog.parameter.Edit" PromptLocation "left" Name "solverName" } Object { - $ObjectID 237 + $ObjectID 261 $ClassName "Simulink.dialog.parameter.Edit" Name "dofs" } Object { - $ObjectID 238 + $ObjectID 262 $ClassName "Simulink.dialog.parameter.Popup" Name "optOption" } @@ -5153,7 +5346,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 239 + $ObjectID 263 $ClassName "Simulink.Mask" Display "image(imread('wholeBodyStates.png'),'center');" } @@ -5187,7 +5380,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 240 + $ObjectID 264 $ClassName "Simulink.Mask" Type "Get Estimate" Description "This block get the estimate of the specified type\n\nAssuming DoFs is the number of degrees of " @@ -5202,7 +5395,7 @@ Library { Type "Simulink.MaskParameter" Dimension 5 Object { - $ObjectID 241 + $ObjectID 265 Type "popup" Array { Type "Cell" @@ -5225,7 +5418,7 @@ Library { "');\nend\nclear maskStr" } Object { - $ObjectID 242 + $ObjectID 266 Type "edit" Name "robotName" Prompt "Robot Port Name" @@ -5233,7 +5426,7 @@ Library { Tunable "off" } Object { - $ObjectID 243 + $ObjectID 267 Type "edit" Name "localName" Prompt "Model Name" @@ -5241,7 +5434,7 @@ Library { Tunable "off" } Object { - $ObjectID 244 + $ObjectID 268 Type "edit" Name "wbiFile" Prompt "WBI filename" @@ -5249,7 +5442,7 @@ Library { Tunable "off" } Object { - $ObjectID 245 + $ObjectID 269 Type "edit" Name "wbiList" Prompt "WBI list name" @@ -5262,11 +5455,11 @@ Library { Type "Simulink.dialog.Group" Dimension 2 Object { - $ObjectID 246 + $ObjectID 270 Prompt "%<MaskType>" Object { $PropName "DialogControls" - $ObjectID 247 + $ObjectID 271 $ClassName "Simulink.dialog.Text" Prompt "%<MaskDescription>" Name "DescTextVar" @@ -5274,46 +5467,46 @@ Library { Name "DescGroupVar" } Object { - $ObjectID 248 + $ObjectID 272 Prompt "Simulink:studio:ToolBarParametersMenu" Object { $PropName "DialogControls" - $ObjectID 249 + $ObjectID 273 $ClassName "Simulink.dialog.TabContainer" Array { Type "Simulink.dialog.Tab" Dimension 2 Object { - $ObjectID 250 + $ObjectID 274 Prompt "Block parameters" Object { $PropName "DialogControls" - $ObjectID 251 + $ObjectID 275 $ClassName "Simulink.dialog.parameter.Popup" Name "estimateType" } Name "Container8" } Object { - $ObjectID 252 + $ObjectID 276 Prompt "WBI parameters" Array { Type "Simulink.dialog.parameter.Edit" Dimension 4 Object { - $ObjectID 253 + $ObjectID 277 Name "robotName" } Object { - $ObjectID 254 + $ObjectID 278 Name "localName" } Object { - $ObjectID 255 + $ObjectID 279 Name "wbiFile" } Object { - $ObjectID 256 + $ObjectID 280 Name "wbiList" } PropName "DialogControls" @@ -5389,7 +5582,7 @@ Library { Variant off Object { $PropName "MaskObject" - $ObjectID 257 + $ObjectID 281 $ClassName "Simulink.Mask" Type "Get Estimate" Description "This block get the estimate of the specified type\n\nAssuming DoFs is the number of degrees of " @@ -5404,7 +5597,7 @@ Library { Type "Simulink.MaskParameter" Dimension 5 Object { - $ObjectID 258 + $ObjectID 282 Type "popup" Array { Type "Cell" @@ -5424,7 +5617,7 @@ Library { ";\nend\nclear maskStr" } Object { - $ObjectID 259 + $ObjectID 283 Type "edit" Name "robotName" Prompt "Robot Port Name" @@ -5432,7 +5625,7 @@ Library { Tunable "off" } Object { - $ObjectID 260 + $ObjectID 284 Type "edit" Name "localName" Prompt "Model Name" @@ -5440,7 +5633,7 @@ Library { Tunable "off" } Object { - $ObjectID 261 + $ObjectID 285 Type "edit" Name "wbiFile" Prompt "WBI filename" @@ -5448,7 +5641,7 @@ Library { Tunable "off" } Object { - $ObjectID 262 + $ObjectID 286 Type "edit" Name "wbiList" Prompt "WBI list name" @@ -5461,11 +5654,11 @@ Library { Type "Simulink.dialog.Group" Dimension 2 Object { - $ObjectID 263 + $ObjectID 287 Prompt "%<MaskType>" Object { $PropName "DialogControls" - $ObjectID 264 + $ObjectID 288 $ClassName "Simulink.dialog.Text" Prompt "%<MaskDescription>" Name "DescTextVar" @@ -5473,46 +5666,46 @@ Library { Name "DescGroupVar" } Object { - $ObjectID 265 + $ObjectID 289 Prompt "Simulink:studio:ToolBarParametersMenu" Object { $PropName "DialogControls" - $ObjectID 266 + $ObjectID 290 $ClassName "Simulink.dialog.TabContainer" Array { Type "Simulink.dialog.Tab" Dimension 2 Object { - $ObjectID 267 + $ObjectID 291 Prompt "Block parameters" Object { $PropName "DialogControls" - $ObjectID 268 + $ObjectID 292 $ClassName "Simulink.dialog.parameter.Popup" Name "limitsType" } Name "Container8" } Object { - $ObjectID 269 + $ObjectID 293 Prompt "WBI parameters" Array { Type "Simulink.dialog.parameter.Edit" Dimension 4 Object { - $ObjectID 270 + $ObjectID 294 Name "robotName" } Object { - $ObjectID 271 + $ObjectID 295 Name "localName" } Object { - $ObjectID 272 + $ObjectID 296 Name "wbiFile" } Object { - $ObjectID 273 + $ObjectID 297 Name "wbiList" } PropName "DialogControls"

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