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Giulio Romualdi GiulioRomualdi @robotology @dic-iit https://iit.it/people/giulio-romualdi PhD Student at Italian Institute of Technology

dic-iit/bipedal-locomotion-framework 14

Suite of libraries for achieving bipedal locomotion on humanoid robots

dic-iit/lie-group-controllers 6

Header-only C++ libraries containing controllers designed for Lie Groups.

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iDynFor

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Setuptools extension to build and package CMake projects

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A CMake buildsystem for compiling scs library

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CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.

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arXiv LaTeX Cleaner: Easily clean the LaTeX code of your paper to submit to arXiv

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GiulioRomualdi

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issue commentrobotology/wb-toolbox

Unable to connect to multiple remotecontrolboard clients on MacOS

Hi @lrapetti , just saw your comment now, sorry. I had indeed an issue last year, somewhat similar, not sure it's the same though. I'll send you the link. We can discuss on Monday.

lrapetti

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startedpeter-evans/slash-command-dispatch

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delete branch dic-iit/matlab-whole-body-simulator

delete branch : feature/add-optional-format-alternative-to-motor-reflected-inertia

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PR merged dic-iit/matlab-whole-body-simulator

Reviewers
Add optional format alternative to motor reflected inertia enhancement

Motivation and main changes

The integration of the matlab-whole-body-simulator with the YOGA controller from whole-body-controllers repository (https://github.com/robotology/whole-body-controllers/issues/122) required a change in the format of the reflected motor inertia parameters. These used to be defined as a column vector composed of the diagonal terms of $\Gamma^{-\top} G^{-1} I _m G^{-1} \Gamma^{-1}$, since this expression resulted in a diagonal matrix in the case of a robot without coupled joints. In the case of iCub, the shoulder joints are coupled, as well as the torso joints. The matrix $\Gamma^{-\top} G^{-1} I _m G^{-1} \Gamma^{-1}$ is not diagonal anymore (https://github.com/robotology/whole-body-controllers/issues/121#issuecomment-831542579), and so the coupling terms need to be accounted for. For this reason we pass the full matrix mentioned above to the simulation block RobotDynWithContacts.

There are two impacts on the block RobotDynWithContacts:

  1. library block interface handling two possible input formats:
    • [NDOFx1] (no coupling): step_block.motorReflectedInertiaFormat = 'vector'
    • [N_DOFxN_DOF] (supports coupling): step_block.motorReflectedInertiaFormat = 'matrix'
  2. computation of M depending on step_block.motorReflectedInertiaFormat
    • 'vector': Mout = M + diag([zeros(6,1);motorInertias]);
    • 'matrix': Mout = M + blkdiag(zeros(6),motorInertias);

Design Details

  1. Changes on block RobotDynWithContacts interface
  • Add 'motorReflectedInertiaFormat' popup parameter to the simulator mask. image

=> A parameter #4 was added in the "parameters & Dialog" pane of the mask editing. => The mask initialization was updated for setting propMotorReflectedInertiaFormat input to MATLAB System lying under the mask. => input parameter propMotorReflectedInertiaFormat was added to the MATLAB System.

Working combinations are as shown below:

  • motor inertia input format [NDOFx1] : image

  • motor inertia input format [NDOFxNDOF] : image

All other combinations fail.

  1. computation of M depending on step_block.motorReflectedInertiaFormat
  • The addition of the motor inertia to the mass matrix depends on the flag step_block.motorReflectedInertiaFormat.
  • That processing had to be done in 'step_block', as the code generation considers at compilation time also the branching paths not accessible at runtime, causing a size mismatch in the computation of M if the branching consition is not a constant, or if it is "Tunable".

PR verification

Check the working and failing combinations described above, for instance on model iCubGenova04. When setting a "failing" combination, the model compiles but fails early at runtime: image or... image

+52 -37

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nunoguedelha

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Nuno Guedelha

commit sha 6107015da3ee8cbb11f015117bdb26e7ef184e0a

Add optional format alternative to motor reflected inertia - Add 'motorReflectedInertiaFormat' popup parameter to the simulator mask. 'vector': the input 'motorInertias' is the vector of diagonal terms of Im*inv(G) 'matrix': the input 'motorInertias' is the matrix inv(TG)'*Im*inv(TG). The inertia can be coupled. - Propagated 'motorReflectedInertiaFormat' to the underlying MATLAB System. - The addition of the motor inertia to the mass matrix depends on this flag. 'matrix'=> M = M + blkdiag(zeros(6),motorInertias), accounting for all the coupling terms in 'motorInertias'. - That processing had to be done in 'step_block', as the code generation considers at compilation time also the branching paths not accessible at runtime, causing a size mismatch in the computation of M if the branching consition is not a constant, or if it is "Tunable".

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Nuno Guedelha

commit sha d851c2b591d0eefe9e1ee8758bd1c4d2cad351cb

Fixed propagation of 'motorReflectedInertiaFormat' in the mask initialization - fixed the mask initialization: the param needs to be retrieved through get_param, otherwise it gets the wrong value. - the initialization of 'motorReflectedInertiaFormat' to 'vector' in the 'step_block' class was corrupting its value and causing the switch case to fall on the 'otherwise' case when processing the mass matrix. As a result, even with wrong motor inertia dimensions, the model would run successfully but without ever applying the motor inertias. - Checked that the combinations [input inertia vector/param 'matrix'] and [input inertia matrix/ param 'vector'] fail at runtime as expected.

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pull request commentdic-iit/matlab-whole-body-simulator

Add optional format alternative to motor reflected inertia

CC @VenusPasandi

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issue commentrobotology/robotology-superbuild

Provide install scripts for installing MATLAB packages provided by robotology-superbuild

Once you installed everything, you can easily check that the library are actually installed by creating a simple iDynTree vector:

vec = iDynTree.Vector3();
vec.fromMatlab([1,2,3])
vec.toString();

or by opening Simulink Library Browser and checking that our libraries are available: see_libraries

traversaro

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issue commentrobotology/robotology-superbuild

Provide install scripts for installing MATLAB packages provided by robotology-superbuild

One line installation available in https://gist.github.com/traversaro/cb955c93c71728be65e881d9766e74fb (should work fine on macOS and Linux for now).

In particular, if you are interesting in a pure MATLAB workflow (so without launching anything else via terminal, so no Gazebo) to install all the MATLAB and Simulink robotology packages it should be sufficient to run:

websave('install_robotology_packages.m', 'https://gist.githubusercontent.com/traversaro/cb955c93c71728be65e881d9766e74fb/raw/38d06499a4dadd1cc6a37b3acc07465b683008f0/install_robotology_packages.m')
install_robotology_packages
robotology_setup

This will install everything in a robotology-gazebo local directory, without perturbing anything else in your system. Once installed, you just need to re-run the robotology_setup script (or add it in your setup) to make the library available again.

Due to specific problems on MATLAB Online, you can't install the libraries in the local directory, and if you need to run this on MATLAB Online the command is slightly nmore difficult:

websave('install_robotology_packages.m', 'https://gist.githubusercontent.com/traversaro/cb955c93c71728be65e881d9766e74fb/raw/38d06499a4dadd1cc6a37b3acc07465b683008f0/install_robotology_packages.m')
install_robotology_packages(installPrefix=fullfile(getenv('HOME'),'robotology-matlab'))
robotology_setup

cc @nunoguedelha @DanielePucci @gabrielenava @CarlottaSartore

traversaro

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Claudia

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[WIP] Fixed error in force plates frames

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pull request commentdic-iit/matlab-whole-body-simulator

Add optional format alternative to motor reflected inertia

cc @CarlottaSartore

nunoguedelha

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PR merged robotology/robotology-superbuild

Remove references to qpOASES MATLAB bindings

As they were removed in https://github.com/robotology/robotology-superbuild/pull/613 .

+1 -2

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Silvio Traversaro

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Remove references to qpOASES MATLAB bindings

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Silvio Traversaro

commit sha 56510706e7cbaf7544856f48a287f6115af205bf

Merge pull request #714 from robotology/traversaro-patch-3 Remove references to qpOASES MATLAB bindings

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delete branch robotology/robotology-superbuild

delete branch : traversaro-patch-3

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pull request commentrobotology/robotology-superbuild

Remove references to qpOASES MATLAB bindings

The CI failures are unrelated (see https://github.com/robotology/robotology-superbuild/issues/715).

traversaro

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issue commentrobotology/robotology-superbuild

Ubuntu 18.04 CI Jobs are failing

Probably related to https://github.com/osrf/gazebo/issues/2995 .

traversaro

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issue openedrobotology/robotology-superbuild

Ubuntu 18.04 CI Jobs are failing

See https://github.com/robotology/robotology-superbuild/actions/runs/818895297 .

Error:

2021-05-07T02:35:20.5472283Z Reading state information...
2021-05-07T02:35:20.6417473Z Some packages could not be installed. This may mean that you have
2021-05-07T02:35:20.6419746Z requested an impossible situation or if you are using the unstable
2021-05-07T02:35:20.6421731Z distribution that some required packages have not yet been created
2021-05-07T02:35:20.6423333Z or been moved out of Incoming.
2021-05-07T02:35:20.6424909Z The following information may help to resolve the situation:
2021-05-07T02:35:20.6426102Z 
2021-05-07T02:35:20.6427435Z The following packages have unmet dependencies:
2021-05-07T02:35:20.7020050Z  libgazebo9-dev : Depends: libignition-transport4-dev but it is not going to be installed
2021-05-07T02:35:20.7023283Z                   Depends: libignition-fuel-tools1-dev but it is not going to be installed
2021-05-07T02:35:20.8189575Z E: Unable to correct problems, you have held broken packages.

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pull request commentdic-iit/matlab-whole-body-simulator

Add optional format alternative to motor reflected inertia

@traversaro , this is ready for review. I will be checking the installation of the library and integration with the controller (https://github.com/robotology/whole-body-controllers/issues/122).

nunoguedelha

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PR opened robotology/robotology-superbuild

Remove references to qpOASES MATLAB bindings

As they were removed in https://github.com/robotology/robotology-superbuild/pull/613 .

+1 -2

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create barnchrobotology/robotology-superbuild

branch : traversaro-patch-3

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pull request commentdic-iit/matlab-whole-body-simulator

Add optional format alternative to motor reflected inertia

Side note on model RRbot1

For using this model you need to comment the IMU block in the main model.

nunoguedelha

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