[simspark-svn] SF.net SVN: simspark:[381] trunk/rcssserver3d

[<he...@us...>]

Revision: 381
          http://sourceforge.net/p/simspark/svn/381
Author:   hedayat
Date:     2014-06-24 20:52:12 +0000 (Tue, 24 Jun 2014)
Log Message:
-----------
RoboCup 2014 Release (hopefully!)

- Update version to 0.6.8.1
- Add robot types for RoboCup 2014

Modified Paths:
--------------
    trunk/rcssserver3d/CMakeLists.txt
    trunk/rcssserver3d/ChangeLog
    trunk/rcssserver3d/NEWS
    trunk/rcssserver3d/RELEASE
    trunk/rcssserver3d/data/rsg/agent/nao/nao_hetero.rsg
    trunk/rcssserver3d/data/rsg/agent/nao/naoleg.rsg
    trunk/rcssserver3d/rcssserver3d/naorobottypes.rb

Modified: trunk/rcssserver3d/CMakeLists.txt
===================================================================
--- trunk/rcssserver3d/CMakeLists.txt	2014-06-08 07:29:26 UTC (rev 380)
+++ trunk/rcssserver3d/CMakeLists.txt	2014-06-24 20:52:12 UTC (rev 381)
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.6)
 
 project(rcssserver3d CXX C)
-set(PACKAGE_VERSION "0.6.8")
+set(PACKAGE_VERSION "0.6.8.1")
 
 ########## check for headerfiles/libraries ##########
 include(CheckIncludeFile) 

Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog	2014-06-08 07:29:26 UTC (rev 380)
+++ trunk/rcssserver3d/ChangeLog	2014-06-24 20:52:12 UTC (rev 381)
@@ -1,3 +1,17 @@
+2014-06-25  Hedayat Vatankhah  <hed...@gm...>
+
+	* NEWS: 
+	* RELEASE: 
+	* CMakeLists.txt: 
+	- prepared for 0.6.8.1 release
+	
+	* data/rsg/agent/nao/nao_hetero.rsg: 
+	* data/rsg/agent/nao/naoleg.rsg: 
+	* data/rsg/agent/nao/naolegtoe.rsg: 
+	* rcssserver3d/naorobottypes.rb:
+	- Update robot types for RoboCup 2014 including two new types, one of which
+	  has toes! Thanks to Patrick, Stefan and Klaus.
+
 2014-05-30  Hedayat Vatankhah  <hed...@gm...>
 
 	* NEWS:

Modified: trunk/rcssserver3d/NEWS
===================================================================
--- trunk/rcssserver3d/NEWS	2014-06-08 07:29:26 UTC (rev 380)
+++ trunk/rcssserver3d/NEWS	2014-06-24 20:52:12 UTC (rev 381)
@@ -1,3 +1,8 @@
+[0.6.8.1]
+This is a bug-fix release for 0.6.8, which had a bug in labeling hear messages.
+It also includes few other changes: a small bug fix, and new hetero robot types
+for RoboCup 2014. Now, our Nao robots can have toe! :)
+
 [0.6.8]
 This release mainly comes with 2 new features: 1. labeling hear messages with
 team names so that it is clear which team the message comes from. 2. Score

Modified: trunk/rcssserver3d/RELEASE
===================================================================
--- trunk/rcssserver3d/RELEASE	2014-06-08 07:29:26 UTC (rev 380)
+++ trunk/rcssserver3d/RELEASE	2014-06-24 20:52:12 UTC (rev 381)
@@ -1,5 +1,10 @@
-RELEASE News of rcssserver3d-0.6.8
+RELEASE News of rcssserver3d-0.6.8.1
 
+This is a bug-fix release for 0.6.8, which had a bug in labeling hear messages.
+It also includes few other changes: a small bug fix, and new hetero robot types
+for RoboCup 2014. Now, our Nao robots can have toe! :)
+
+And this is the release news for 0.6.8:
 This release mainly comes with 2 new features: 1. labeling hear messages with
 team names so that it is clear which team the message comes from. 2. Score
 reporting. A few bug fixes are also included. 

Modified: trunk/rcssserver3d/data/rsg/agent/nao/nao_hetero.rsg
===================================================================
--- trunk/rcssserver3d/data/rsg/agent/nao/nao_hetero.rsg	2014-06-08 07:29:26 UTC (rev 380)
+++ trunk/rcssserver3d/data/rsg/agent/nao/nao_hetero.rsg	2014-06-24 20:52:12 UTC (rev 381)
@@ -25,6 +25,9 @@
 (def $TorsoInitZ  1.5)
 
 (def $loadObj (eval Nao.UseTexture))
+
+(def $useToe (eval "NaoType["$type"]['UseToe']"))
+
 ;
 ;Begin Construct of Nao
 ;
@@ -131,18 +134,38 @@
     ;
     ;The Right Leg
     ;
-    (importScene rsg/agent/nao/naoleg.rsg
-              1 r
-              $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj
-              $type)
-    
+    (switch $useToe
+	    (true
+	     (importScene rsg/agent/nao/naolegtoe.rsg
+			  1 r
+			  $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj
+			  $type)
+	     )
+	    (false
+	     (importScene rsg/agent/nao/naoleg.rsg
+			  1 r
+			  $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj
+			  $type)
+	     )
+	    )
+
     ;
     ;The Left Leg
     ;
-    (importScene rsg/agent/nao/naoleg.rsg
-              -1 l
-              $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj
-              $type)
+    (switch $useToe
+	    (true
+	     (importScene rsg/agent/nao/naolegtoe.rsg
+			  -1 l
+			  $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj
+			  $type)  
+	     )
+	    (false
+	     (importScene rsg/agent/nao/naoleg.rsg
+			  -1 l
+			  $TorsoInitX $TorsoInitY $TorsoInitZ $loadObj
+			  $type)
+	     )
+	    )
 
 );end of nd Space
 

Modified: trunk/rcssserver3d/data/rsg/agent/nao/naoleg.rsg
===================================================================
--- trunk/rcssserver3d/data/rsg/agent/nao/naoleg.rsg	2014-06-08 07:29:26 UTC (rev 380)
+++ trunk/rcssserver3d/data/rsg/agent/nao/naoleg.rsg	2014-06-24 20:52:12 UTC (rev 381)
@@ -47,9 +47,11 @@
     ;
     ;Position Parameters
     ;
-    (def $Hip1RelTorso_X (eval $LRFactor * 0.055))
+    ;(def $Hip1RelTorso_X (eval $LRFactor * 0.055))
+    (def $Hip1RelTorso_X (eval $LRFactor * (eval "NaoType["$type"]['Hip1RelTorso_X']")))
     (def $Hip1RelTorso_Y -0.01)
-    (def $Hip1RelTorso_Z -0.115)
+    ;(def $Hip1RelTorso_Z -0.115)
+    (def $Hip1RelTorso_Z (eval "NaoType["$type"]['Hip1RelTorso_Z']"))
 
     (def $Hip2RelHip1_X 0)
     (def $Hip2RelHip1_Y 0)

Modified: trunk/rcssserver3d/rcssserver3d/naorobottypes.rb
===================================================================
--- trunk/rcssserver3d/rcssserver3d/naorobottypes.rb	2014-06-08 07:29:26 UTC (rev 380)
+++ trunk/rcssserver3d/rcssserver3d/naorobottypes.rb	2014-06-24 20:52:12 UTC (rev 381)
@@ -1,27 +1,59 @@
 NaoType = [
 # Type 0 (Standard Nao)
 {
+    'Hip1RelTorso_X' => 0.055,
+    'Hip1RelTorso_Z' => -0.115,
     'ThighRelHip2_Z' => -0.04,
     'AnkleRelShank_Z' => -0.055,
     'lj5_max_abs_speed' => 6.1395,
     'lj6_max_abs_speed' => 6.1395,
-    'ElbowRelUpperArm_Y' => 0.07
+    'ElbowRelUpperArm_Y' => 0.07,
+    'UseToe' => 'false'
 },
-# Type 1
+# Type 1 (longer legs and arms)
 {
+    'Hip1RelTorso_X' => 0.055,
+    'Hip1RelTorso_Z' => -0.115,
     'ThighRelHip2_Z' => -0.05832,
     'AnkleRelShank_Z' => -0.07332,
     'lj5_max_abs_speed' => 6.1395,
     'lj6_max_abs_speed' => 6.1395,
-    'ElbowRelUpperArm_Y' => 0.10664
+    'ElbowRelUpperArm_Y' => 0.10664,
+    'UseToe' => 'false'
 },
-# Type 2
+# Type 2 (faster ankle-pitch and slower ankle-roll speed)
 {
+    'Hip1RelTorso_X' => 0.055,
+    'Hip1RelTorso_Z' => -0.115,
     'ThighRelHip2_Z' => -0.04,
     'AnkleRelShank_Z' => -0.055,
     'lj5_max_abs_speed' => 8.80667,
     'lj6_max_abs_speed' => 3.47234,
-    'ElbowRelUpperArm_Y' => 0.07
+    'ElbowRelUpperArm_Y' => 0.07,
+    'UseToe' => 'false'
+},
+# Type 3 (longer legs and arms + wider hip)
+{
+    'Hip1RelTorso_X' => 0.072954143,
+    'Hip1RelTorso_Z' => -0.115,
+    'ThighRelHip2_Z' => -0.067868424,
+    'AnkleRelShank_Z' => -0.082868424,
+    'lj5_max_abs_speed' => 6.1395,
+    'lj6_max_abs_speed' => 6.1395,
+    'ElbowRelUpperArm_Y' => 0.125736848,
+    'UseToe' => 'false'
+},
+# Type 4 (Nao toes model)
+{
+    'Hip1RelTorso_X' => 0.055,
+    'Hip1RelTorso_Z' => -0.115,
+    'ThighRelHip2_Z' => -0.04,
+    'AnkleRelShank_Z' => -0.055,
+    'lj5_max_abs_speed' => 6.1395,
+    'lj6_max_abs_speed' => 6.1395,
+    'ElbowRelUpperArm_Y' => 0.07,
+    'UseToe' => 'true',
+    'ToeLength' => 0.035517656
 }
 
 ]

This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.