simulink library pics updated

source/franka_matlab/getting_started.rst

@@ -11,7 +11,7 @@ You can navigate through the examples by typing:
 
 .. code-block:: shell
 
-    >> uiopen(fullfile(franka_matlab_installation_path_get(),'examples','franka_matlab_toolbox_examples.slx'),1);
+    >> franka_matlab_toolbox_examples();
 
 .. figure:: _static/franka_matlab_toolbox_examples.png
     :align: center
@@ -22,38 +22,35 @@ You can navigate through the examples by typing:
 Initialization
 --------------
 
-After opening, double clicking on any of the simulink models a set of parameters will be loaded automatically in the 
-workspace.
+After opening, double clicking on any of the simulink models the robot settings will be loaded automatically in the 
+workspace, in the form of the object `frs`.
 
 .. hint::
 
-    The Simulink models are delivered in R2019a version. They will convert automatically to your Matlab version 
+    The Simulink models are delivered in R2021a version. They will convert automatically to your Matlab version 
     when you try to save the model. 
 
 .. figure:: _static/workspace_parameters.png
     :align: center
     :figclass: align-center
 
-    Working space after loading a Simulink demo.
+    The Franka Robot Settings object.
 
-The robot_ip is set to 172.16.0.2 by default after loading the demos. Make sure that the robot_ip parameters matches your 
-setup, either by modifying it in the `demos/demos_common_config.m` matlab script file or from the cmd line after the 
-simulink demo is loaded, like:
+The robot_ip is set to 172.16.0.2. Make sure that the robot_ip, as well as all the other parameters matches your 
+setup for your intended purposes.
 
 .. code-block:: shell
 
-    >> robot_ip = <your robot ip string>
+    >> frs.robot_ip = <your robot ip string>
 
-At this point we can start the building & deployment of the Simulink model.
+You can modify the default settings for the FrankaRobotSettings with
 
-Execution
----------
+.. code-block:: shell
 
-.. hint::
+    >> edit FrankaRobotSettings.m
 
-    The current workflow presented is utilizing the "Run on Custom Hardware" Simulink App, present in Matlab versions
-    :math:`\geq` R2020a. In case of Matlab 2019a you can build the model normaly by using the "Build Model" button.
-    You then need to run the executable from a terminal as described bellow.
+Execution
+---------
 
 Let's start by selecting the `Run on custom hardware` App from the Apps pane in Simulink.
 
@@ -63,13 +60,10 @@ Let's start by selecting the `Run on custom hardware` App from the Apps pane in
 
     "Run on custom hardware" Simulink App.
 
-.. note::
-
-    The Franka Simulink Library has been tested with the Generic Real-Time Target (grt.tlc) as well as with the Embedded Coder Target (ert.tlc) in the context of the NVIDIA's Jetson Nano Hardware support package for Simulink.
-
 .. important::
 
-    Before executing make sure that the brakes of the robot are disengaged and that the robot is in execution mode!
+    Before executing make sure that the brakes of the robot are disengaged, the FCI mode is activated
+    in Desk and that the robot is in execution mode(user button is released)!
 
 You can then select from the Hardware tab either `Monitor & Tune` in case monitoring through the external mode is 
 desired or `Build, Deploy & Start` for just executing the application without monitoring.
@@ -80,18 +74,15 @@ desired or `Build, Deploy & Start` for just executing the application without mo
 
     Hardware Simulink App.
 
-.. hint::
-
-    As a reminder, in case of a robot with system version 4.2.0 or greater, the FCI control mode needs to be explicitly enabled through Desk --> Sidebar menu --> Activate FCI. 
-
 .. caution::
 
     The robot will move! Make sure that you are monitoring the situation, ready to take action if necessary!
 
-Alternatively you can run the executable, which is located in the current working space, manually.
+Alternatively you can run the auto-generated executable located in the current working space manually from a terminal:
 
 In case of Linux:
 
+
 .. code-block:: shell
 
     $ ./<simulink_model_name>
@@ -104,24 +95,13 @@ or in case of Windows:
 
 Automatic error recovery
 ------------------------
-
-.. figure:: _static/simulink_view_diagnostics.png
-    :align: center
-    :figclass: align-center
-
-    View error and other diagnostic messages in Simulink during the build, deployment and execution phases.
-
-.. figure:: _static/terminal_error_message.png
-    :align: center
-    :figclass: align-center
-
-    Error message displayed in terminal in case of manual execution.
-
-If the robot encounters an error state and transitions to reflex mode, you may attempt to recover by executing the `franka_automatic_error_recovery` command in Matlab.
+If the robot encounters an error state and transitions to reflex mode, 
+you may attempt a recovery by executing the automatic error recovery command in Matlab.
 
 .. code-block:: shell
 
-    >> franka_automatic_error_recovery(<robot ip string>);
+    >> fr = FrankaRobot(<robot ip as string>);
+    >> fr.automatic_error_recovery();
 
 In case the command fails and the robot remains in the erroneous state try using the guiding mode to manually bring 
 back the robot to a valid configuration. 

source/franka_matlab/installation.rst

@@ -61,46 +61,34 @@ You can then install the 64bit versions of eigen3 and poco packages:
     vcpkg install eigen3:x64-windows
     vcpkg install poco[netssl]:x64-windows
 
-You can now install libfranka in Windows: 
-
-After restarting the x64 Native Tools Command Prompt for VS 2017 do:
-
-.. code-block:: winbatch
-
-    cd C:\Users\{user name}
-    git clone --recursive https://github.com/frankaemika/libfranka
-    cd libfranka
-    mkdir build
-    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF -DCMAKE_TOOLCHAIN_FILE=C:\Users\{user name}\vcpkg\scripts\buildsystems\vcpkg.cmake -G Ninja ..
-    ninja
-
-.. important::
-    Make sure that you add the libfranka\\build folder also added in the PATH environment variable as well! 
-    This is a necessary requirement for generating and building code with the Franka Matlab Toolbox.
-
 Franka Matlab Toolbox Add-On Installation & License Management
 --------------------------------------------------------------
 
-For installing the Franka Matlab Toolbox, start by either double clicking on the franka_matlab.mltbx that you've received or by drag-and-dropping it to the current Matlab Command Window.
-
-After the Franka Matlab Toolbox has been added as an Add-On the license number needs to be installed as well. 
+For installing the Franka Matlab Toolbox either drag-and-drop the franka_matlab.mltbx
+to the current Matlab Command Window or you can use the Matlab Add-On manager.
 
-For receiving the license number please contact Franka Emika and provide your Matlab license number. 
+After this process is complete simply follow the instructions in the Getting Started guided 
+which should have been opened after the Franka Matlab Toolbox Add-on installation.
 
-You can find you license number by simply typing in Matlab:
+In short you will need to generate a unique identifier for you PC by executing:
 
 .. code-block:: shell
 
-    license;
+    franka_matlab_toolbox_uid_gen();
 
-For installing the license you can type:
+Please then send this unique identifier to Franka Robotics for receiving a License Number for
+the Franka Matlab Toolbox.
+
+You can then proceed with the final installation step, by executing: 
 
 .. code-block:: shell
 
-    franka_matlab_toolbox_install('your license number');
+    franka_matlab_toolbox_install('franka matlab toolbox license number as a string',['fr3' or 'gen1']);
+
+That's it the Franka Matlab Toolbox should be ready. 
 
-In case a removal of the Franka Matlab Toolbox is desired, we recommend starting by uninstalling the current license first with:
+Get a glimpse of what the capabilities of the Toolbox are by navigating through the examples provided with the Toolbox:
 
 .. code-block:: shell
 
-    franka_matlab_toolbox_uninstall();
+    franka_matlab_toolbox_examples();

source/franka_matlab/simulink_library.rst

@@ -25,6 +25,7 @@ on the desired control mode that is selected from the drop-down list `Control Mo
 .. figure:: _static/block_parameters_apply_control.png
     :align: center
     :figclass: align-center
+    :width: 530px
 
     Apply Control Simulink Block Settings.
 
@@ -33,42 +34,24 @@ on the desired control mode that is selected from the drop-down list `Control Mo
     Namely the robot will move to the desirable configuration and only then the main execution of the Simulink model
     will take place. You can define that in the `Initial Configuration` section of the block settings. 
 
-Get Initial Robot State
+Get Robot State
 -----------------------
 
-.. figure:: _static/get_robot_state_init.png
+.. figure:: _static/get_robot_state.png
     :align: center
     :figclass: align-center
 
-    Get initial robot state Simulink Block.
-
-This Simulink block will only capture and deliver the initial robot state values which are present during the 
-initial execution step. 
+    Get Robot State Simulink Block.
 
 You can write the signals that you wish to capture in free text form in the `Parameters` section. 
 For the set of available signals --> `Robot State Attributes <https://frankaemika.github.io/libfranka/structfranka_1_1RobotState.html>`_
 
-.. figure:: _static/get_robot_state_init_settings.png
+.. figure:: _static/get_robot_state_settings.png
     :align: center
     :figclass: align-center
 
     Get initial robot state Simulink Block Settings.
 
-Get Current Robot State
------------------------
-
-.. figure:: _static/get_robot_state.png
-    :align: center
-    :figclass: align-center
-
-    Get current robot state Simulink Block.
-
-This Simulink block will capture and deliver the current robot state values. 
-
-You can write the signals that you wish to capture in free text form in the `Parameters` section. 
-For the set of available signals --> 
-`Robot State Attributes <https://frankaemika.github.io/libfranka/structfranka_1_1RobotState.html>`_
-
 Get Duration(Sample Time)
 -------------------------