[simspark-svn] SF.net SVN: simspark:[353] trunk/rcssserver3d

[<kla...@us...>]

Revision: 353
          http://sourceforge.net/p/simspark/svn/353
Author:   klausdorer
Date:     2013-05-29 05:32:14 +0000 (Wed, 29 May 2013)
Log Message:
-----------
Adjusted NaoType1 (LongLeg) according to finding during tests at German Open.
Arms are now also longer.
Enlargement of legs is now split into two parts, half at hip, half at ankle.
Inverse Kinematics Walks of Nao should now also work without major changes on this type.

Modified Paths:
--------------
    trunk/rcssserver3d/data/rsg/agent/nao/naoarm.rsg
    trunk/rcssserver3d/data/rsg/agent/nao/naoleg.rsg
    trunk/rcssserver3d/rcssserver3d/naorobottypes.rb

Modified: trunk/rcssserver3d/data/rsg/agent/nao/naoarm.rsg
===================================================================
--- trunk/rcssserver3d/data/rsg/agent/nao/naoarm.rsg	2013-05-24 15:01:08 UTC (rev 352)
+++ trunk/rcssserver3d/data/rsg/agent/nao/naoarm.rsg	2013-05-29 05:32:14 UTC (rev 353)
@@ -46,7 +46,8 @@
     (def $UpperarmRelShoulderZ 0)
     
     (def $ElbowRelUpperArm_X (eval $LRFactor * -0.01))
-    (def $ElbowRelUpperArm_Y 0.07)
+    ;(def $ElbowRelUpperArm_Y 0.07)
+    (def $ElbowRelUpperArm_Y (eval "NaoType["$type"]['ElbowRelUpperArm_Y']"))
     (def $ElbowRelUpperArm_Z 0.009)
     
     (def $LowerarmRelElbow_X 0)

Modified: trunk/rcssserver3d/data/rsg/agent/nao/naoleg.rsg
===================================================================
--- trunk/rcssserver3d/data/rsg/agent/nao/naoleg.rsg	2013-05-24 15:01:08 UTC (rev 352)
+++ trunk/rcssserver3d/data/rsg/agent/nao/naoleg.rsg	2013-05-29 05:32:14 UTC (rev 353)
@@ -66,7 +66,8 @@
 
     (def $AnkleRelShank_X 0)
     (def $AnkleRelShank_Y -0.01)
-    (def $AnkleRelShank_Z -0.055)
+    ;(def $AnkleRelShank_Z -0.055)
+    (def $AnkleRelShank_Z (eval "NaoType["$type"]['AnkleRelShank_Z']"))
     
     (def $FootRelAnkle_X 0)
     (def $FootRelAnkle_Y 0.03)

Modified: trunk/rcssserver3d/rcssserver3d/naorobottypes.rb
===================================================================
--- trunk/rcssserver3d/rcssserver3d/naorobottypes.rb	2013-05-24 15:01:08 UTC (rev 352)
+++ trunk/rcssserver3d/rcssserver3d/naorobottypes.rb	2013-05-29 05:32:14 UTC (rev 353)
@@ -1,8 +1,8 @@
 NaoType = [
 # Type 0 (Standard Nao)
-{'ThighRelHip2_Z' => -0.04, 'lj5_max_abs_speed' => 6.1395, 'lj6_max_abs_speed' => 6.1395},
+{'ThighRelHip2_Z' => -0.04, 'AnkleRelShank_Z' => -0.055, 'lj5_max_abs_speed' => 6.1395, 'lj6_max_abs_speed' => 6.1395, 'ElbowRelUpperArm_Y' => 0.07},
 # Type 1
-{'ThighRelHip2_Z' => -0.08, 'lj5_max_abs_speed' => 6.1395, 'lj6_max_abs_speed' => 6.1395},
+{'ThighRelHip2_Z' => -0.06, 'AnkleRelShank_Z' => -0.075, 'lj5_max_abs_speed' => 6.1395, 'lj6_max_abs_speed' => 6.1395, 'ElbowRelUpperArm_Y' => 0.11},
 # Type 2
-{'ThighRelHip2_Z' => -0.04, 'lj5_max_abs_speed' => 9.21,   'lj6_max_abs_speed' => 4.605}
+{'ThighRelHip2_Z' => -0.04, 'AnkleRelShank_Z' => -0.055, 'lj5_max_abs_speed' => 9.21,   'lj6_max_abs_speed' => 4.605, 'ElbowRelUpperArm_Y' => 0.07}
 ]

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