Release 0.11.0. Improves planning behavior. This release is only supported on Atlas.

Author: Operator Computer

.gitignore

@@ -9,18 +9,19 @@
 /src/*/bin
 
 # Top level directories in sub-projects
-*/classes
-*/bin
-*/out
 */target
-*/build
 */pit-reports
 */install
 */src/*/bin
 */src/*/build
 */src/*/out
+*/Configurations
 
 # directories to always ignore
+**/classes
+**/bin
+**/out
+**/build
 **/.gradle
 **/.project
 **/.classpath
@@ -41,6 +42,8 @@
 **/.LSOverride
 **/.AppleDouble
 **/pitest
+**/pit-test
+**/pit-reports
 **/generated-src2
 
 
@@ -87,5 +90,3 @@
 **/.apdisk
 **/rebel.xml
 **/generatedTestSuites/*TestSuite.java
-
-!gradle/wrapper/gradle-wrapper.jar

README.md

@@ -4,7 +4,7 @@ buildscript {
       mavenLocal()
    }
    dependencies {
-      classpath "gradle.plugin.us.ihmc:ihmc-build:0.9.5"
+      classpath "us.ihmc:ihmc-build:0.12.1"
       classpath "org.hidetake:gradle-ssh-plugin:2.9.0"
    }
 }
@@ -25,19 +25,17 @@ testSuites {
 }
 
 mainDependencies {
-   compile group: 'us.ihmc', name: 'euclid-core', version: '0.4.6'
+   compile group: 'us.ihmc', name: 'euclid-core', version: '0.4.13'
    compile group: 'us.ihmc', name: 'IHMCRealtime', version: '1.1.8'
-   compile group: 'us.ihmc', name: 'ihmc-yovariables', version: '0.2.4'
-   compile group: 'org.apache.commons', name: 'commons-lang3', version: '3.4'
+   compile group: 'us.ihmc', name: 'ihmc-yovariables', version: '0.2.6'
+   compile group: 'org.apache.commons', name: 'commons-lang3', version: '3.7'
    compile group: 'us.ihmc.thirdparty.jinput', name: 'jinput', version: '160414'
    compile group: 'org.ejml', name: 'dense64', version: '0.30'
    compile group: 'org.ejml', name: 'core', version: '0.30'
-   compile group: 'us.ihmc.thirdparty.jme', name: 'jme3-core', version: '3.1.0-internal4'
    compile group: 'com.martiansoftware', name: 'jsap', version: '2.1'
    compile group: 'org.bidib.jbidib.org.qbang.rxtx', name: 'rxtxcomm', version: '2.2'
-   compile group: 'us.ihmc', name: 'ihmc-commons', version: '0.11.2'
+   compile group: "us.ihmc", name: "ihmc-commons", version: "0.17.0"
    compile group: "us.ihmc", name: "ihmc-communication", version: groupDependencyVersion
-   compile group: "us.ihmc", name: "ihmc-java-extensions", version: groupDependencyVersion
    compile group: "us.ihmc", name: "ihmc-humanoid-robotics", version: groupDependencyVersion
    compile group: "us.ihmc", name: "ihmc-state-estimation", version: groupDependencyVersion
    compile group: "us.ihmc", name: "ihmc-common-walking-control-modules", version: groupDependencyVersion
@@ -58,12 +56,11 @@ mainDependencies {
 }
 
 testDependencies {
-   compile group: 'junit', name: 'junit', version: '4.11'
-   compile group: "us.ihmc", name: "ihmc-ci-core-api", version: "0.16.8"
-   compile group: 'us.ihmc', name: 'ihmc-commons-testing', version: '0.11.2'
+   compile group: "junit", name: "junit", version: "4.12"
+   compile group: "us.ihmc", name: "ihmc-ci-core-api", version: "0.17.0"
+   compile group: "us.ihmc", name: "ihmc-commons-testing", version: "0.17.0"
    compile group: "us.ihmc", name: "ihmc-avatar-interfaces-test", version: groupDependencyVersion
    compile group: "us.ihmc", name: "ihmc-robotics-toolkit-test", version: groupDependencyVersion
-   compile group: "us.ihmc", name: "ihmc-java-extensions-test", version: groupDependencyVersion
 }
 
 if (ihmc.isBuildRoot())

acsell/build.gradle

@@ -1,15 +1,10 @@
-hyphenatedName = acsell
+kebabCasedName = acsell
 pascalCasedName = Acsell
 extraSourceSets = ["test"]
 publishMode = SNAPSHOT
-groupDependencyVersion = SNAPSHOT-LATEST
+groupDependencyVersion = source
 depthFromWorkspaceDirectory = 2
 excludeFromCompositeBuild = false
-includeBuildsFromWorkspace = true
-artifactoryUsername = unset_username
-artifactoryPassword = unset_password
-bintray_user = unset_user
-bintray_key = unset_key
 steppr_username = unset_username
 steppr_password = unset_password
 wanderer_username = unset_password

acsell/gradle.properties

@@ -192,13 +192,13 @@ diag
 <Title>
 General
 </Title>
-<Entry Boxes>enableOutput,startStandprep,selectedJointPair,requestedHighLevelState,manualModeICPOffset,jointVelocityAlphaFilter</Entry Boxes>
+<Entry Boxes>enableOutput,startStandprep,selectedJointPair,requestedHighLevelControllerName,manualModeICPOffset,jointVelocityAlphaFilter</Entry Boxes>
 </EntryBoxTab>
 <EntryBoxTab>
 <Title>
 UserStep
 </Title>
-<Entry Boxes>userStepsToTake,userStepFirstSide,userStepLength,userStepWidth,userStepsTakeEm,kpPelvisOrientation,kpXYLinearSwingFoot,kpZLinearSwingFoot,kpXYAngularSwingFoot,kpZAngularSwingFoot,swingTime,kpChestOrientation,captureKpParallel,captureKpOrthogonal,zetaPelvisOrientation,transferTime,r_leg_knymotorDamping,enableOutput,startStandprep,selectedJointPair,requestedHighLevelState,manualModeICPOffset,jointVelocityAlphaFilter,userStepSideways,kpCoMHeight,zetaCoMHeight,userStepYaw</Entry Boxes>
+<Entry Boxes>userStepsToTake,userStepFirstSide,userStepLength,userStepWidth,userStepsTakeEm,kpPelvisOrientation,kpXYLinearSwingFoot,kpZLinearSwingFoot,kpXYAngularSwingFoot,kpZAngularSwingFoot,swingTime,kpChestOrientation,captureKpParallel,captureKpOrthogonal,zetaPelvisOrientation,transferTime,r_leg_knymotorDamping,enableOutput,startStandprep,selectedJointPair,requestedHighLevelControllerName,manualModeICPOffset,jointVelocityAlphaFilter,userStepSideways,kpCoMHeight,zetaCoMHeight,userStepYaw</Entry Boxes>
 </EntryBoxTab>
 <EntryBoxTab>
 <Title>

acsell/Configurations/NormalConfiguration.guiConf renamed to acsell/saved-configurations/NormalConfiguration.guiConf

@@ -30,7 +30,7 @@
 <Title>
 Tab
 </Title>
-<Entry Boxes>enableOutput,startStandprep,requestedHighLevelState,controlRatio</Entry Boxes>
+<Entry Boxes>enableOutput,startStandprep,requestedHighLevelControllerName,controlRatio</Entry Boxes>
 </EntryBoxTab>
 </Entry Boxes Tab Pane>
 

acsell/Configurations/SelectedJointData.guiConf renamed to acsell/saved-configurations/SelectedJointData.guiConf

@@ -246,7 +246,7 @@ ToeOff
 <Title>
 Tab6
 </Title>
-<Entry Boxes>torsoXActuatorMotorAngleOffset,torsoYActuatorMotorAngleOffset,walkingState,sow_walkingState,requestedHighLevelState,highLevelState,enableOutput,torsoZActuatorMotorAngleOffset</Entry Boxes>
+<Entry Boxes>torsoXActuatorMotorAngleOffset,torsoYActuatorMotorAngleOffset,walkingState,sow_walkingState,requestedHighLevelControllerName,highLevelControllerName,enableOutput,torsoZActuatorMotorAngleOffset</Entry Boxes>
 </EntryBoxTab>
 <EntryBoxTab>
 <Title>

acsell/Configurations/StandPrep.guiConf renamed to acsell/saved-configurations/StandPrep.guiConf

@@ -0,0 +1,9 @@
+#
+#Tue Oct 10 11:32:49 CDT 2017
+REA/Module/Lidar/Range/Max=5.0
+REA/Module/Lidar/Range/Min=0.2
+REA/Module/NormalEstimation/Enable=true
+REA/Module/NormalEstimation/Parameters=search radius\: 0.08, max distance from plane\: 0.02, min consensus ratio\: 0.5, max average deviation ratio\: 0.75, number of iterations\: 1, least squares estimation\: true
+REA/Module/OcTree/BoundingBox/Enable=true
+REA/Module/OcTree/BoundingBox/Parameters=min\: (-1.0, -2.0, -3.0), max\: (5.0, 2.0, 0.5)
+REA/Module/OcTree/Enable=true

acsell/Configurations/StepperWalkingDebug.guiConf renamed to acsell/saved-configurations/StepperWalkingDebug.guiConf

@@ -0,0 +1,3 @@
+#
+#Tue Oct 10 11:32:49 CDT 2017
+REA/UserInterface/OcTree/BoundingBox/Show=false

acsell/Configurations/StepprStandPrep.guiConf renamed to acsell/saved-configurations/StepprStandPrep.guiConf

@@ -162,7 +162,7 @@ Tab1
 <Title>
 Tab2
 </Title>
-<Entry Boxes>requestedHighLevelState,kpXYLinearSwingFoot,kdXYLinearSwingFoot,zetaLinearSwingFoot,kpZLinearSwingFoot,zetaXYAngularSwingFoot,zetaZAngularSwingFoot,torsoYActuatorMotorAngleOffset</Entry Boxes>
+<Entry Boxes>requestedHighLevelControllerName,kpXYLinearSwingFoot,kdXYLinearSwingFoot,zetaLinearSwingFoot,kpZLinearSwingFoot,zetaXYAngularSwingFoot,zetaZAngularSwingFoot,torsoYActuatorMotorAngleOffset</Entry Boxes>
 </EntryBoxTab>
 <EntryBoxTab>
 <Title>

acsell/Configurations/bono_AcsellLogVisualizer_GuiConfiguration.dat renamed to acsell/saved-configurations/bono_AcsellLogVisualizer_GuiConfiguration.dat

@@ -1,42 +1,10 @@
-/**
- * This file performs the following 2 operations:
- *
- * Setup source sets as projects to correct inconsistent classpaths
- * across IDEs and Gradle. From "extraSourceSets" property.
- *
- * Parse this project's build.gradle for dependencies in group "us.ihmc"
- * and recursively search for those builds on disk and include them as
- * composite builds.
- *
- * This file is needed until Gradle implements the following features:
- * - Allow nested composite builds (https://github.com/gradle/gradle/issues/1909)
- *
- * THIS FILE IS AUTO-GENERATED BY THE IHMC BUILD GRADLE PLUGIN
- * To disable auto-generation, set "disableSettingsGeneration = true"
- * in the gradle.properties file.
- *
- * Required properties:
- *
- * hyphenatedName = your-project-hyphenated
- * pascalCasedName = YourProjectPascalCased
- * extraSourceSets = [] (ex. ["test", "visualizers"]
- * publishMode = SNAPSHOT (default)
- * depthFromWorkspaceDirectory = 1 (default)
- * includeBuildsFromWorkspace = true (default)
- * excludeFromCompositeBuild = false (default)
- *
- * Optional properties:
- *
- * useLegacySourceSets = false (does not work yet)
- */
-
 buildscript {
    repositories {
       maven { url "https://plugins.gradle.org/m2/" }
       mavenLocal()
    }
    dependencies {
-      classpath "gradle.plugin.us.ihmc:ihmc-build:0.9.5"
+      classpath "us.ihmc:ihmc-build:0.12.1"
    }
 }
 
@@ -46,11 +14,6 @@ import us.ihmc.build.IHMCSettingsConfigurator
  * Browse source at https://github.com/ihmcrobotics/ihmc-build
  */
 def ihmcSettingsConfigurator = new IHMCSettingsConfigurator(settings, logger, ext)
-ihmcSettingsConfigurator.checkRequiredPropertiesAreSet() // Give friendly errors for unset properties
-ihmcSettingsConfigurator.configureProjectName(hyphenatedName) // rootProject.name = hyphenatedName
-ihmcSettingsConfigurator.configureExtraSourceSets(extraSourceSets) // Setup source sets to be multi-project subprojects
-
-if (Boolean.valueOf(includeBuildsFromWorkspace))
-{
-   ihmcSettingsConfigurator.findAndIncludeCompositeBuilds() // Search workspace and `includeBuild` matches
-}
+ihmcSettingsConfigurator.checkRequiredPropertiesAreSet()
+ihmcSettingsConfigurator.configureExtraSourceSets()
+ihmcSettingsConfigurator.findAndIncludeCompositeBuilds()