Code Release 2023

Co-authored-by: Leon B. Co-authored-by: Dominik Brämer <[email protected]> Co-authored-by: Lisa Dasmann <[email protected]> Co-authored-by: Alicia Gayda <[email protected]> Co-authored-by: Mrunal Hatwar <[email protected]> Co-authored-by: Diana Kleingarn <[email protected]> Co-authored-by: Thomas Klute <[email protected]> Co-authored-by: Aaron Larisch <[email protected]> Co-authored-by: Mahdokht Mohammadi <[email protected]> Co-authored-by: Arne Moos <[email protected]> Co-authored-by: Steven Pieper <[email protected]> Co-authored-by: Ingmar Schwarz <[email protected]> Co-authored-by: Alexander Voß <[email protected]>
NaoDevils · Dec 4, 2023 · 1989b2c · 1989b2c
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diff --git a/CITATION.cff b/CITATION.cff
@@ -0,0 +1,36 @@
+cff-version: 1.2.0
+title: Nao Devils Code Release
+message: If you use this software, please cite it using these metadata.
+type: software
+authors:
+  - family-names: B
+    given-names: Leon
+  - family-names: Brämer
+    given-names: Dominik
+  - family-names: Dasmann
+    given-names: Lisa
+  - family-names: Gayda
+    given-names: Alicia
+  - family-names: Hatwar
+    given-names: Mrunal
+  - family-names: Kleingarn
+    given-names: Diana
+  - family-names: Klute
+    given-names: Thomas
+  - family-names: Larisch
+    given-names: Aaron
+  - family-names: Mohammadi
+    given-names: Mahdokht
+  - family-names: Moos
+    given-names: Arne
+  - family-names: Pieper
+    given-names: Steven
+  - family-names: Schwarz
+    given-names: Ingmar
+  - family-names: Voß
+    given-names: Alexander
+repository-code: "https://github.com/NaoDevils/CodeRelease/tree/CodeRelease2023"
+license-url: "https://github.com/NaoDevils/CodeRelease/blob/CodeRelease2023/License.txt"
+url: "https://naodevils.de"
+version: "2023"
+date-released: "2023-10-15"
diff --git a/Config/KeyFrameEngine/cheering1.kfm b/Config/KeyFrameEngine/cheering1.kfm
@@ -1,9 +1,11 @@
 //Cheering for a scored goal 
 // old -> needs adjustments
 keyFrameID = cheering1;
-YstabilizationP = 0;
+initialKeyFrame = true;
+nextKeyFrameID = none;
+YstabilizationP = -0.05;
 YstabilizationI = 0;
-YstabilizationD = 0;
+YstabilizationD = -0.6;
 XstabilizationP = 0;
 XstabilizationI = 0;
 XstabilizationD = 0;
@@ -23,12 +25,15 @@ keyFrames = [
     duration = 200;
     intType = linear;
     angleAtKeyFrameTarget = 0;
+    angleAtKeyFrameErrorFront = 30deg;
+    angleAtKeyFrameErrorBack = 30deg;
     useAngleAtKeyFrameTarget = false;
-    stabilize = false;
-    hipYawErrorCompensation = 0;
+    activateFallDownProtection = false;
+    stabilize = true;
     waitForStable = false;
-    waitForTorsoTime = 0;
     leavingPossible = false;
+    fallDownProtection = none;
+    holdFallDownProtection = 12;
   },
   { //frame 2 : Hands up  
     // HeadYaw, HeadPitch
@@ -69,10 +74,13 @@ keyFrames = [
 
     // advanced parameters
     angleAtKeyFrameTarget = 0;
-    useAngleAtKeyFrameTarget = true;
+    angleAtKeyFrameErrorFront = 30deg;
+    angleAtKeyFrameErrorBack = 30deg;
+    useAngleAtKeyFrameTarget = false;
+    activateFallDownProtection = false;
     waitForStable = true;
-    hipYawErrorCompensation = 0;
-    waitForTorsoTime = 0;
+    fallDownProtection = none;
+    holdFallDownProtection = 12;
   },
   { //frame 3 : hands up straight 
     // HeadYaw, HeadPitch
@@ -86,8 +94,8 @@ keyFrames = [
 
     // HipYawPitch, HipRoll, HipPitch, KneePitch, AnklePitch, AnkleRoll
      legsAngles = [
-         0deg,   0deg, -21deg,  49deg, -27.5deg, 0deg, // left leg
-         0deg,   0deg, -21deg,  49deg, -27.5deg, 0deg, // right leg
+         0deg,   0deg, -31deg,  55deg, -24deg, 0deg, // left leg
+         0deg,   0deg, -31deg,  55deg, -24deg, 0deg, // right leg
     ];
 
     // Amount of force / torque (%) for each joint
@@ -100,7 +108,7 @@ keyFrames = [
     ];
 
     // key frame duration in milliseconds
-    duration = 200;
+    duration = 400;
 
     // interpolation type between key frames: sine or linear
     intType = linear;
@@ -113,10 +121,13 @@ keyFrames = [
 
     // advanced parameters
     angleAtKeyFrameTarget = 0;
-    useAngleAtKeyFrameTarget = true;
+    angleAtKeyFrameErrorFront = 30deg;
+    angleAtKeyFrameErrorBack = 30deg;
+    useAngleAtKeyFrameTarget = false;
+    activateFallDownProtection = false;
     waitForStable = true;
-    hipYawErrorCompensation = 0;
-    waitForTorsoTime = 0;
+    fallDownProtection = none;
+    holdFallDownProtection = 12;
   },
   { //frame 4 : hands down same as frame 2
     // HeadYaw, HeadPitch
@@ -144,7 +155,7 @@ keyFrames = [
     ];
 
     // key frame duration in milliseconds
-    duration = 200;
+    duration = 400;
 
     // interpolation type between key frames: sine or linear
     intType = linear ;
@@ -157,10 +168,13 @@ keyFrames = [
 
     // advanced parameters
     angleAtKeyFrameTarget = 0;
+    angleAtKeyFrameErrorFront = 30deg;
+    angleAtKeyFrameErrorBack = 30deg;
     useAngleAtKeyFrameTarget = false;
-    waitForStable = true;
-    hipYawErrorCompensation = 0;
-    waitForTorsoTime = 0;
+    activateFallDownProtection = false;
+    waitForStable = false;
+    fallDownProtection = none;
+    holdFallDownProtection = 12;
   },
   { //frame 5 : hands up straight same as frame3
     // HeadYaw, HeadPitch
@@ -174,8 +188,8 @@ keyFrames = [
 
     // HipYawPitch, HipRoll, HipPitch, KneePitch, AnklePitch, AnkleRoll
     legsAngles = [
-         0deg,   0deg, -21deg,  49deg, -27.5deg, 0deg, // left leg
-         0deg,   0deg, -21deg,  49deg, -27.5deg, 0deg, // right leg
+         0deg,   0deg, -31deg,  55deg, -24deg, 0deg, // left leg
+         0deg,   0deg, -31deg,  55deg, -24deg, 0deg, // right leg
     ];
 
     // Amount of force / torque (%) for each joint
@@ -188,7 +202,7 @@ keyFrames = [
     ];
 
     // key frame duration in milliseconds
-    duration = 200;
+    duration = 400;
 
     // interpolation type between key frames: sine or linear
     intType = linear;
@@ -201,10 +215,13 @@ keyFrames = [
 
     // advanced parameters
     angleAtKeyFrameTarget = 0;
-    useAngleAtKeyFrameTarget = true;
+    angleAtKeyFrameErrorFront = 30deg;
+    angleAtKeyFrameErrorBack = 30deg;
+    useAngleAtKeyFrameTarget = false;
+    activateFallDownProtection = false;
     waitForStable = false;
-    hipYawErrorCompensation = 0;
-    waitForTorsoTime = 0;
+    fallDownProtection = none;
+    holdFallDownProtection = 12;
   },
   { //frame 6 : hands down same as frame 2
     // HeadYaw, HeadPitch
@@ -233,7 +250,7 @@ keyFrames = [
     ];
 
     // key frame duration in milliseconds
-    duration = 200;
+    duration = 400;
 
     // interpolation type between key frames: sine or linear
     intType = linear ;
@@ -246,10 +263,13 @@ keyFrames = [
 
     // advanced parameters
     angleAtKeyFrameTarget = 0;
-    useAngleAtKeyFrameTarget = true;
+    angleAtKeyFrameErrorFront = 30deg;
+    angleAtKeyFrameErrorBack = 30deg;
+    useAngleAtKeyFrameTarget = false;
+    activateFallDownProtection = false;
     waitForStable = false;
-    hipYawErrorCompensation = 0;
-    waitForTorsoTime = 0;
+    fallDownProtection = none;
+    holdFallDownProtection = 12;
   },
   { //frame 7 : hands down same as frame 2
     // HeadYaw, HeadPitch
@@ -291,10 +311,13 @@ keyFrames = [
 
     // advanced parameters
     angleAtKeyFrameTarget = 0;
-    useAngleAtKeyFrameTarget = true;
+    angleAtKeyFrameErrorFront = 30deg;
+    angleAtKeyFrameErrorBack = 30deg;
+    useAngleAtKeyFrameTarget = false;
+    activateFallDownProtection = false;
     waitForStable = false;
-    hipYawErrorCompensation = 0;
-    waitForTorsoTime = 0;
+    fallDownProtection = none;
+    holdFallDownProtection = 12;
   },
   {//end
     headAngles = [0deg,0deg];
@@ -304,11 +327,14 @@ keyFrames = [
     duration = 200;
     intType = linear;
     angleAtKeyFrameTarget = 0;
+    angleAtKeyFrameErrorFront = 30deg;
+    angleAtKeyFrameErrorBack = 30deg;
     useAngleAtKeyFrameTarget = false;
-    stabilize = false;
-    hipYawErrorCompensation = 0;
-    waitForStable = false;
-    waitForTorsoTime = 0;
-    leavingPossible = true;
+    activateFallDownProtection = false;
+    stabilize = true;
+    waitForStable = true;
+    leavingPossible = false;
+    fallDownProtection = none;
+    holdFallDownProtection = 12;
   }
 ];
diff --git a/Config/KeyFrameEngine/cheering2.kfm b/Config/KeyFrameEngine/cheering2.kfm
@@ -1,5 +1,7 @@
 //copy from stand
 keyFrameID = cheering2;
+initialKeyFrame = true;
+nextKeyFrameID = none;
 YstabilizationP = 0.1;
 YstabilizationI = 0;
 YstabilizationD = -0.02;
@@ -12,85 +14,103 @@ keyFrames = [
     //shoulderPitch,shoulderRoll,ElbowYaw, ElbowRoll, WristYaw, Hand
     armsAngles = [90deg,11deg,0,90deg,-90deg,0, 90deg,-11deg,0,-90deg,90deg,0];
     //hipYawPitch, hipRoll, hipPitch, kneePitch, anklePitch, ankleRoll
-    legsAngles = [-10deg,0, 0, 0, 0,0, -10deg,0, 0, 0,0,0];
-    stiffnesses = [40,40, 40,40,40,40,40,40, 40,40,40,40,40,40, 100,100,100,100,100,100, 100,100,100,100,100,100];
-    duration = 600;
+    legsAngles = [0,0,-21deg,49deg,-27.5deg,0, 0,0,-21deg,49deg,-27.5deg,0];
+    stiffnesses = [40,40, 60,60,60,60,60,60, 60,60,60,60,60,60,  100,100,100,100,100,100, 100,100,100,100,100,100];
+    duration = 1000;
     intType = linear;
     angleAtKeyFrameTarget = 0;
+    angleAtKeyFrameErrorFront = 30deg;
+    angleAtKeyFrameErrorBack = 30deg;
     useAngleAtKeyFrameTarget = false;
+    activateFallDownProtection = false;
     stabilize = false;
-    hipYawErrorCompensation = 0;
     waitForStable = true;
-    waitForTorsoTime = 0;
     leavingPossible = false;
+    fallDownProtection = none;
+    holdFallDownProtection = 12;
   },
   { //frame2: hands to the right - right leg straight 
     //HeandYaw, HeadPitch
     headAngles = [-30deg,0];
     //shoulderPitch,shoulderRoll,ElbowYaw, ElbowRoll, WristYaw, Hand
     armsAngles = [18.8deg,-18.5deg,-13.6deg,-75.4deg,-90deg,0deg, -67.9deg,-62.7deg,-39.3deg,1.1deg,90deg,0deg];
     //hipYawPitch, hipRoll, hipPitch, kneePitch, anklePitch, ankleRoll
-    legsAngles = [-25.4deg,16.2deg,-14.4deg,51.9deg,-28.0deg,-4.9deg, -25.4deg,5.4deg,23.9deg,-6.9deg,0.1deg,5.3deg];
-    stiffnesses = [40,40, 40,40,40,40,40,40, 40,40,40,40,40,40, 100,100,100,100,100,100, 100,100,100,100,100,100];
+    //legsAngles = [-25.4deg,16.2deg,-14.4deg,51.9deg,-28.0deg,-4.9deg, -25.4deg,5.4deg,23.9deg,-6.9deg,0.1deg,5.3deg];
+    legsAngles = [0,0,-21deg,49deg,-27.5deg,0, 0,0,-21deg,49deg,-27.5deg,0];
+    stiffnesses = [40,40, 60,60,60,60,60,60, 60,60,60,60,60,60, 80,80,80,80,80,80, 80,80,80,80,80,80];
     duration = 800;
     intType = linear;
     angleAtKeyFrameTarget = 0;
+    angleAtKeyFrameErrorFront = 30deg;
+    angleAtKeyFrameErrorBack = 30deg;
     useAngleAtKeyFrameTarget = false;
+    activateFallDownProtection = false;
     stabilize = true;
-    hipYawErrorCompensation = 0;
     waitForStable = true;
-    waitForTorsoTime = 0;
     leavingPossible = false;
+    fallDownProtection = none;
+    holdFallDownProtection = 12;
   },
   { //frame3: wait in the position
     //HeandYaw, HeadPitch
     headAngles = [-30deg,0];
     //shoulderPitch,shoulderRoll,ElbowYaw, ElbowRoll, WristYaw, Hand
     armsAngles = [18.8deg,-18.5deg,-13.6deg,-75.4deg,-90deg,0deg, -67.9deg,-62.7deg,-39.3deg,1.1deg,90deg,0deg];
     //hipYawPitch, hipRoll, hipPitch, kneePitch, anklePitch, ankleRoll
-    legsAngles = [-25.4deg,16.2deg,-14.4deg,51.9deg,-28.0deg,-4.9deg, -25.4deg,5.4deg,23.9deg,-6.9deg,0.1deg,5.3deg];
-    stiffnesses = [40,40, 40,40,40,40,40,40, 40,40,40,40,40,40, 100,100,100,100,100,100, 100,100,100,100,100,100];
+    //legsAngles = [-25.4deg,16.2deg,-14.4deg,51.9deg,-28.0deg,-4.9deg, -25.4deg,5.4deg,23.9deg,-6.9deg,0.1deg,5.3deg];
+    legsAngles = [0,0,-21deg,49deg,-27.5deg,0, 0,0,-21deg,49deg,-27.5deg,0];
+    stiffnesses = [40,40, 60,60,60,60,60,60, 60,60,60,60,60,60, 80,80,80,80,80,80, 80,80,80,80,80,80];
     duration = 1500;
     intType = linear;
     angleAtKeyFrameTarget = 0;
+    angleAtKeyFrameErrorFront = 30deg;
+    angleAtKeyFrameErrorBack = 30deg;
     useAngleAtKeyFrameTarget = false;
+    activateFallDownProtection = false;
     stabilize = true;
-    hipYawErrorCompensation = 0;
     waitForStable = true;
-    waitForTorsoTime = 0;
     leavingPossible = false;
+    fallDownProtection = none;
+    holdFallDownProtection = 12;
   },
   {//frame4
     headAngles = [20000,20000];
     //armsAngles = [90deg,11deg,0,90deg,-90deg,0, 90deg,-11deg,0,-90deg,90deg,0];
     armsAngles = [18.8deg,-18.5deg,-13.6deg,-75.4deg,-90deg,0deg, -67.9deg,-62.7deg,-39.3deg,1.1deg,90deg,0deg];
     //legsAngles = [0,0,-21deg,49deg,-27.5deg,0, 0,0,-21deg,49deg,-27.5deg,0];
-    legsAngles = [0.0deg,0.1deg,-21.1deg,49.0deg,-27.7deg,-0.1deg, 0.0deg,-0.3deg,-21.1deg,49.0deg,-27.6deg,0.0deg];
-    stiffnesses = [40,40, 40,40,40,40,40,40, 40,40,40,40,40,40, 60,60,60,60,60,60, 60,60,60,60,60,60];
+    //legsAngles = [0.0deg,0.1deg,-21.1deg,49.0deg,-27.7deg,-0.1deg, 0.0deg,-0.3deg,-21.1deg,49.0deg,-27.6deg,0.0deg];
+    legsAngles = [0,0,-21deg,49deg,-27.5deg,0, 0,0,-21deg,49deg,-27.5deg,0];
+    stiffnesses = [40,40, 60,60,60,60,60,60, 60,60,60,60,60,60, 80,80,80,80,80,80, 80,80,80,80,80,80];
     duration = 500;
-    intType = sine;
+    intType = linear;
     angleAtKeyFrameTarget = 0;
+    angleAtKeyFrameErrorFront = 30deg;
+    angleAtKeyFrameErrorBack = 30deg;
     useAngleAtKeyFrameTarget = false;
+    activateFallDownProtection = false;
     stabilize = false;
-    hipYawErrorCompensation = 0;
     waitForStable = true;
-    waitForTorsoTime = 0;
     leavingPossible = true;
+    fallDownProtection = none;
+    holdFallDownProtection = 12;
   },
   {//end
     headAngles = [20000,20000];
     armsAngles = [90deg,11deg,0,90deg,-90deg,0, 90deg,-11deg,0,-90deg,90deg,0];
     //legsAngles = [0,0,-21deg,49deg,-27.5deg,0, 0,0,-21deg,49deg,-27.5deg,0];
     legsAngles = [0.0deg,0.1deg,-21.1deg,49.0deg,-27.7deg,-0.1deg, 0.0deg,-0.3deg,-21.1deg,49.0deg,-27.6deg,0.0deg];
-    stiffnesses = [40,40, 40,40,40,40,40,40, 40,40,40,40,40,40, 60,60,60,60,60,60, 60,60,60,60,60,60];
+    stiffnesses = [40,40, 60,60,60,60,60,60, 60,60,60,60,60,60,  60,60,60,60,60,60, 60,60,60,60,60,60];
     duration = 500;
-    intType = sine;
+    intType = linear;
     angleAtKeyFrameTarget = 0;
+    angleAtKeyFrameErrorFront = 30deg;
+    angleAtKeyFrameErrorBack = 30deg;
     useAngleAtKeyFrameTarget = false;
+    activateFallDownProtection = false;
     stabilize = false;
-    hipYawErrorCompensation = 0;
     waitForStable = true;
-    waitForTorsoTime = 0;
     leavingPossible = true;
+    fallDownProtection = none;
+    holdFallDownProtection = 12;
   }
 ];