phil merge 2

.gitignore

@@ -22,3 +22,6 @@ util/scripts/nao_files
 util/scripts/wireless_config/wpa_supplicant.conf
 src/serenity/cache.txt
 .DS_Store
+src/nbtool/bin/*
+.project
+.classpath

data/logs/sync

@@ -9,8 +9,8 @@ UP_OR_DOWN=$1
 REMOTE_FOLDER=${2%/} #Strip the trailing slash if any
 
 RSYNC=rsync
-RSYNC_OPTS="-rvuza --chmod=ug+rw"
-
+# Commented out section only supported in rsync 3.1.*
+RSYNC_OPTS="-rvuza --chmod=ug+rws" # --chown=*:robocupgrp"
 
 if [ "$1" = "" ]; then
     echo "No push direction specified"
@@ -27,18 +27,25 @@ fi
 echo "Type username for RoboCup server, followed by [ENTER]"
 read username
 
-SERVER=$username@robocup.bowdoin.edu
+SERVER=$username@dover
 ROBOCUP_DIR=/mnt/research/robocup
 FRAMES_DIR=logs
 
 SYNC_UP="$RSYNC $RSYNC_OPTS ./$REMOTE_FOLDER/ $SERVER:$ROBOCUP_DIR/$FRAMES_DIR/$REMOTE_FOLDER/"
 SYNC_DOWN="$RSYNC $RSYNC_OPTS $SERVER:$ROBOCUP_DIR/$FRAMES_DIR/$REMOTE_FOLDER/ ./$REMOTE_FOLDER/"
 DIFF="$RSYNC $RSYNC_OPTS -n $SERVER:$ROBOCUP_DIR/$FRAMES_DIR/$REMOTE_FOLDER/ ./$REMOTE_FOLDER/"
 
+# Ensure that group is correctly set on the server.
+# Once everyone is running 14.04 we can do this directly in rsync
+CHOWN="chown -R :robocupgrp $ROBOCUP_DIR/$FRAMES_DIR/$REMOTE_FOLDER/"
+RUN_CHOWN="ssh $SERVER sh -c '( ( $CHOWN ) )'"
+
 if [ "$UP_OR_DOWN" = "up" ]; then
 
     echo $SYNC_UP
     $SYNC_UP
+    echo $RUN_CHOWN
+    $RUN_CHOWN
 
 elif [ "$UP_OR_DOWN" = "down" ]; then
 

data/tables/sync

@@ -19,7 +19,7 @@ fi
 echo "Type username for RoboCup server, followed by [ENTER]"
 read username
 
-SERVER=$username@robocup.bowdoin.edu
+SERVER=$username@dover
 ROBOCUP_DIR=mnt/research/robocup
 TABLES_DIR=tables
 DEST=.

src/man/.gitmodules

@@ -1,3 +1,3 @@
 [submodule "tables"]
 	path = tables
-	url = robocup@robocup.bowdoin.edu:git/tables.git
+	url = robocup@dover:git/tables.git

src/man/CMakeLists.txt

@@ -64,6 +64,10 @@ include_directories( SYSTEM ${PROTOBUF_INCLUDE_DIR} )
 find_package( PythonLibs REQUIRED)
 include_directories( ${PYTHON_INCLUDE_DIR} )
 
+set(Boost_NO_BOOST_CMAKE true)
+find_package(Boost COMPONENTS python REQUIRED)
+include_directories( ${Boost_INCLUDE_DIR} )
+
 # Our core includes come from here
 include_directories( ${SHARE_DIR}/include )
 

src/man/Man.cpp

@@ -197,6 +197,8 @@ namespace man {
          That being said, should probably not init (i.e. start threads)
          if not necessary.
          */
+
+
 #ifdef NAOQI_2
             nblog::HOST_TYPE = nblog::V5ROBOT;
 #else

src/man/behaviors/CMakeLists.txt

@@ -1,8 +1,5 @@
 # required libraries for python
 
-set(Boost_NO_BOOST_CMAKE true)
-find_package(Boost COMPONENTS python REQUIRED)
-
 find_package( PythonLibs   REQUIRED )
 include_directories( ${PYTHON_INCLUDE_DIR} )
 

src/man/behaviors/GameController.py

@@ -86,7 +86,7 @@ def run(self):
         # reset field for change
         self.kickOffChanged = False
 
-        if (gameState.kick_off_team == self.teamColor):
+        if (gameState.kick_off_team == gameState.team(teamIndex).team_number):
             # It is currently our kick off
             if not self.ownKickOff:
                 self.kickOffChanged = True

src/man/behaviors/PyConstants.cpp

@@ -5,6 +5,8 @@
 
 #include <boost/python.hpp>
 
+#include "DebugConfig.h"
+
 using namespace boost::python;
 using namespace man::behaviors;
 using namespace man;
@@ -18,6 +20,12 @@ BOOST_PYTHON_MODULE(noggin_constants)
     scope().attr("USE_LAB_FIELD") = false;
 #endif
 
+#ifdef NAOQI_2
+    scope().attr("NAOQI_2") = true;
+#else
+    scope().attr("NAOQI_2") = false;
+#endif
+
     // Walk time
     scope().attr("TIME_STEP") = TIME_STEP;
     scope().attr("TIME_PER_STEP") = TIME_PER_STEP;

src/man/behaviors/SweetMoves.py

@@ -117,10 +117,10 @@ def getMoveTime(move):
                   .4,1, stiff.STANDUP_STIFFNESSES ),
 
                    #Feet in front
-                  ((117.3, -40.3, 62.2, -89.8),
+                  ((127.3, -40.3, 62.2, -89.8),
                    (-70.0, 41.3, -87.3, 11.4, -25.5, 32.9),
                    (0.0, -44.1, -74.4, -4.5, -25.3, -34.3),
-                   (117.3, 41.3, -62.2, 89.8),
+                   (127.3, 41.3, -62.2, 89.8),
                    .4,1, stiff.STANDUP_STIFFNESSES ),
 
                   #Sit Back
@@ -144,19 +144,23 @@ def getMoveTime(move):
                   0.6,1, stiff.STANDUP_STIFFNESSES),
                  #sitting legs spread hands behind facing forward
 
+                 # makes elbow straight
                  ((40,60,4,-28),
                   (-28,8,-49,126,-25,-22),
                   (-28,-31,-87,80,52,0),
-                  (120,-33,-4,4),
+                  (120,-33,-4,0.4),
                   .6,1, stiff.STANDUP_STIFFNESSES),
-                 # turns to right a little and stands with one arm on ground
+                 # turns to right a little and stands with 
+                 # one arm on ground
+
+                  ((42,28,5,-47),
+                  (-49,-16,27,101,-70,-5),
+                  (-49,-32,-110,61,39,-7),
+                  (91,-20,-4,0),
+                  0.8,1, stiff.STANDUP_STIFFNESSES),
+                  # gets hips up and over knees
+
 
-                 ((42,28,5,-47),
-                  (-49,-16,22,101,-70,-5),
-                  (-49,-32,-89,61,39,-7),
-                  (101,-15,-4,3),
-                  0.6,1, stiff.STANDUP_STIFFNESSES),
-                 #gets hips up and over knees
 
                  ((59.76,29.35,4.39,-45.79),
                   (-30.23,-10.19,-35.86,122.78,-67.68,8.44),
@@ -166,18 +170,19 @@ def getMoveTime(move):
                  #pulls right leg in a little
 
                  ((77.5, 28.9, 5.6, -40.7),
-                  (-30.1, 0.6, -28.2, 123.4, -69.9, 3.2),
-                  (0.0, -15.5, -55.8, 123.7, -43.5, 7.2),
+                  (-30.1, -2.2, -32.6, 123.5, -69.4, 3.1),
+                  (-30.1, -14.2, -61.5, 123.2, -42.8, 8.6),
                   (88.1, -22.6, -1.0, 23.0),
-                  0.6,1, stiff.STANDUP_STIFFNESSES),
-                 #pulls both legs in, squat
+                  0.6, 1, stiff.STANDUP_STIFFNESSES),
+                 # pulls both legs in, squat
 
                  #stands up
                  (INITIAL_POS[0][0],
                   INITIAL_POS[0][1],
                   INITIAL_POS[0][2],
                   INITIAL_POS[0][3],
-                  1,0, stiff.STANDUP_STIFFNESSES) )
+                  1,0, stiff.STANDUP_STIFFNESSES)
+                 )
 
 # new robots
 STAND_UP_BACK = (
@@ -300,24 +305,27 @@ def getMoveTime(move):
 
                   ((42,28,5,-47),
                   (-49,-16,27,101,-70,-5),
-                  (-49,-32,-89,61,39,-7),
+                  (-44.0, -32.9, -91.9, 88.7, 21.7, -3.5),
                   (101,-15,-4,3),
                   0.6,1, stiff.STANDUP_STIFFNESSES),
                  #gets hips up and over knees
 
+
                  ((59.76,29.35,4.39,-45.79),
-                  (-30.23,-10.19,-45.86,122.78,-67.68,8.44),
+                (-30.23,-10.19,-45.86,122.78,-67.68,8.44),
                   (-30.23,-26.72,-70.78,54.41,34.99,19.69),
                   (54.85,-45.62,-0.27,24.35),
-                  0.4,1, stiff.STANDUP_STIFFNESSES),
+                 0.4,1, stiff.STANDUP_STIFFNESSES),
                  #pulls right leg in a little
 
+
+
                  ((77.5, 28.9, 5.6, -40.7),
-                  (-30.1, 0.6, -28.2, 123.4, -69.9, 3.2),
-                  (0.0, -15.5, -55.8, 123.7, -43.5, 7.2),
+                  (-30.1, -2.2, -32.6, 123.5, -69.4, 3.1),
+                  (-30.1, -14.2, -61.5, 123.2, -42.8, 8.6),
                   (88.1, -22.6, -1.0, 23.0),
-                  0.6,1, stiff.STANDUP_STIFFNESSES),
-                 #pulls both legs in, squat
+                  1.5, 1, stiff.STANDUP_STIFFNESSES),
+                 # pulls both legs in, squat
 
                  #  ((42,28,5,-47),
                  #  (-49,-16,0,101,-70,-5),
@@ -345,7 +353,7 @@ def getMoveTime(move):
                   INITIAL_POS[0][1],
                   INITIAL_POS[0][2],
                   INITIAL_POS[0][3],
-                  1,0, stiff.STANDUP_STIFFNESSES)
+                  2,0, stiff.STANDUP_STIFFNESSES)
                  )
 
 REVERSE_STAND_UP_BACK = mirrorMove(STAND_UP_BACK)
@@ -1117,7 +1125,8 @@ def LEFT_D_KICK(y,dist):
      .14,0, stiff.NORMAL_STIFFNESSES),
 
     # Recover
-    ((80.,30.,-50.,-70.),
+    # ((80.,30.,-50.,-70.),
+    ((90.,10.,-90.,-10.),
      (0.,25.,-27.,43.5,-21.2,-20.),
      (0.,15,-27,45.,-22.5,-18.),
      (80.,-30.,50.,74.),
@@ -1127,7 +1136,7 @@ def LEFT_D_KICK(y,dist):
      (0.0,0.0,-22.3,43.5,-21.2, 0.0),
      (0.0,0.0,-22.3,43.5,-21.2, 0.0),
      (90.,-10.,82.,13.2),
-     .7,0,stiff.NORMAL_STIFFNESSES),
+     .7,0,stiff.NORMAL_STIFFNESSES)
     )
 
 RIGHT_STRAIGHT_KICK = mirrorMove(LEFT_STRAIGHT_KICK)
@@ -1461,4 +1470,4 @@ def LEFT_D_KICK(y,dist):
      1,0,stiff.NORMAL_STIFFNESSES),
 )
 
-ZELLVARRO_RIGHT_KICK = mirrorMove(ZELLVARRO_LEFT_KICK)
+ZELLVARRO_RIGHT_KICK = mirrorMove(ZELLVARRO_LEFT_KICK)

src/man/behaviors/kickDecider/KickDecider.py

@@ -36,10 +36,10 @@ def sweetMovesOrbit(self):
         self.brain.player.motionKick = False
 
         self.kicks = []
-        self.kicks.append(kicks.LEFT_KICK)
-        self.kicks.append(kicks.RIGHT_KICK)
-        self.kicks.append(kicks.LEFT_SIDE_KICK)
-        self.kicks.append(kicks.RIGHT_SIDE_KICK)
+        self.kicks.append(kicks.LEFT_STRAIGHT_KICK)
+        self.kicks.append(kicks.RIGHT_STRAIGHT_KICK)
+        # self.kicks.append(kicks.LEFT_SIDE_KICK)
+        # self.kicks.append(kicks.RIGHT_SIDE_KICK)
 
         self.scoreKick = self.minimizeOrbitTime
 
@@ -54,8 +54,8 @@ def frontKickCrosses(self):
         self.brain.player.motionKick = False
 
         self.kicks = []
-        self.kicks.append(kicks.LEFT_KICK)
-        self.kicks.append(kicks.RIGHT_KICK)
+        self.kicks.append(kicks.M_LEFT_STRAIGHT)
+        self.kicks.append(kicks.M_RIGHT_STRAIGHT)
 
         self.scoreKick = self.minimizeOrbitTime
 
@@ -89,8 +89,8 @@ def frontKicksOrbitIfSmall(self):
         self.brain.player.motionKick = False
 
         self.kicks = []
-        self.kicks.append(kicks.LEFT_KICK)
-        self.kicks.append(kicks.RIGHT_KICK)
+        self.kicks.append(kicks.LEFT_SHORT_STRAIGHT_KICK)
+        self.kicks.append(kicks.RIGHT_SHORT_STRAIGHT_KICK)
 
         self.scoreKick = self.minimizeOrbitTime
 
@@ -272,8 +272,8 @@ def kicksBeforeBallIsFree(self):
 
     def allKicksAsap(self):
         self.kicks = []
-        self.kicks.append(kicks.LEFT_KICK)
-        self.kicks.append(kicks.RIGHT_KICK)
+        self.kicks.append(kicks.LEFT_SHORT_STRAIGHT_KICK)
+        self.kicks.append(kicks.RIGHT_SHORT_STRAIGHT_KICK)
         self.kicks.append(kicks.M_LEFT_STRAIGHT)
         self.kicks.append(kicks.M_RIGHT_STRAIGHT)
         self.kicks.append(kicks.M_LEFT_SIDE)
@@ -433,9 +433,9 @@ def allKicksIncludingBigKickAsapOnGoal(self):
 
     ### HIGH LEVEL PLANNERS ###
     def attacker(self):
-        onGoalAsap = self.allKicksAsapOnGoal()
-        if onGoalAsap: 
-            return onGoalAsap
+        frontKicks = self.frontKicksOrbitIfSmall()
+        if frontKicks: 
+            return frontKicks
 
         asap = self.motionKicksAsap()
         if asap:
@@ -448,6 +448,10 @@ def defender(self):
         if asap:
             return asap
 
+        asap = self.motionKicksAsap()
+        if asap:
+            return asap
+
         return self.frontKickCrosses()
 
     def obstacleAware(self, clearing = False):
@@ -677,7 +681,7 @@ def upfieldEnough(self, kick):
         return -40 <= kick.setupH <= 40
 
     def isShortOrbit(self, kick):
-        return math.fabs(self.brain.loc.h - kick.setupH) < 30
+        return math.fabs(self.brain.loc.h - kick.setupH) < 50
 
     ### HELPER FUNCTIONS ###
     def fromCartesianToPolarCoordinates(self, x, y):

src/man/behaviors/kickDecider/kicks.py

@@ -87,23 +87,27 @@ def __ne__(self, other):
                       move=SweetMoves.ZELLVARRO_LEFT_KICK)
 
 ZELLVARRO_RIGHT_KICK = Kick("Zellvarro_Left_Kick",
-                      x = 15.5, y = -3.95, 
+                      x = 15.5, y = -3.95,
                       dist = 300,
                       move=SweetMoves.ZELLVARRO_RIGHT_KICK)
 
-LEFT_KICK = ZELLVARRO_LEFT_KICK
-RIGHT_KICK = ZELLVARRO_RIGHT_KICK
+LEFT_KICK = LEFT_SHORT_STRAIGHT_KICK
+RIGHT_KICK = RIGHT_SHORT_STRAIGHT_KICK
 
 # Motion kicks
-M_LEFT_STRAIGHT =  Kick("M_Left_Straight", x = 14, y = 3.6, dist = 70)
-M_RIGHT_STRAIGHT =  Kick("M_Right_Straight", x = 14, y = -3.6, dist = 70)
+M_LEFT_STRAIGHT =  Kick("M_Left_Straight", x = 12.7, y = 3.6, dist = 70)
+M_RIGHT_STRAIGHT =  Kick("M_Right_Straight", x = 12.7, y = -3.6, dist = 70)
 
 M_LEFT_CHIP_SHOT =  Kick("M_Left_Chip_Shot", x = 12.3, y = -.3, h = 45, dist = 70)
 M_RIGHT_CHIP_SHOT =  Kick("M_Right_Chip_Shot", x = 12.3, y = .3, h = -45, dist = 70)
 
 M_LEFT_SIDE = Kick("M_Left_Side", x = 13.4, y = -2.76, h = 90, dist = 100)
 M_RIGHT_SIDE = Kick("M_Right_Side", x = 13.4, y = 2.76, h = -90, dist = 100)
 
+# Motion kicks for v5s. We need to determine a good way of dealing with this in python
+#M_LEFT_SIDE = Kick("M_Left_Side", x = 13, y = -2.8, h = 90, dist = 100)
+#M_RIGHT_SIDE = Kick("M_Right_Side", x = 13, y = 2.8, h = -90, dist = 100)
+
 # Not used 04-19-13
 LEFT_SHORT_SIDE_KICK =  Kick("L_Short_Side", x = 15.5, y = -.5,
                              h = 90,

src/man/behaviors/navigator/Navigator.py

@@ -60,7 +60,7 @@ def __init__(self, brain):
             self.atLocPositionTransition : NavStates.atPosition,
 
             Transition.CountTransition(navTrans.shouldDodge,
-                                       Transition.SOME_OF_THE_TIME,
+                                       Transition.OCCASIONALLY,
                                        Transition.LOW_PRECISION)
             : NavStates.dodge