Prevent losing orientation by limiting NeckPitch

magmaOffenburg · Mar 5, 2021 · de2cc0f · de2cc0f
1 parent 1100625
commit de2cc0f
Show file tree

Hide file tree

Showing 5 changed files with 10 additions and 4 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,3 +1,7 @@
+1.2.2 (March 5, 2021)
+------------------------------
+* Prevent losing orientation by limiting the maximum NeckPitch angle to zero degrees
+
 1.2.1 (February 1, 2021)
 ------------------------------
 * Fixed setting playmode during MonitorKick

diff --git a/README.md b/README.md
@@ -29,7 +29,7 @@ It should be compatible with older JREs, too, but this is not verified.
 - Make sure you have Java installed and available on your command line.
 
 ### Getting the prebuilt version
-We provide a prebuilt version of the Fat Proxy. You can download the latest version from the [Releases page](https://github.com/magmaOffenburg/magmaFatProxy/releases) (e.g. `magmafatproxy-1.2.1.zip`). The Zip file contains the JAR file as well as the start script.
+We provide a prebuilt version of the Fat Proxy. You can download the latest version from the [Releases page](https://github.com/magmaOffenburg/magmaFatProxy/releases) (e.g. `magmafatproxy-1.2.2.zip`). The Zip file contains the JAR file as well as the start script.
 
 ### Building from source
 - Clone the repository: `git clone https://github.com/magmaOffenburg/magmaFatProxy`.

diff --git a/pom.xml b/pom.xml
@@ -5,7 +5,7 @@
    <groupId>magmaoffenburg</groupId>
    <artifactId>magmafatproxy</artifactId>
    <packaging>jar</packaging>
-   <version>1.2.1</version>
+   <version>1.2.2</version>
    <name>magmaFatProxy</name>
    <url>https://github.com/magmaOffenburg/magmaFatProxy</url>
 

diff --git a/src/main/java/magma/fatproxy/MagmaFatProxy.java b/src/main/java/magma/fatproxy/MagmaFatProxy.java
@@ -28,7 +28,7 @@
  */
 public class MagmaFatProxy
 {
-	private static final String PROXY_VERSION = "1.2.1";
+	private static final String PROXY_VERSION = "1.2.2";
 
 	/**
 	 * Instantiates and starts the Simspark agent proxy.

diff --git a/src/main/java/magma/robots/nao/model/agentmeta/NaoAgentMetaModel.java b/src/main/java/magma/robots/nao/model/agentmeta/NaoAgentMetaModel.java
@@ -68,9 +68,11 @@ NeckYaw, NeckYawP, NeckYawE, new Vector3D(0, 0, 1), -120, 120, MAX_JOINT_SPEED,
 						Vector3D.ZERO, null, null, null, null, null);
 		configs.add(currentConfig);
 
+		// The max joint angle is actually 45 degrees
+		// However, it is limited to 0 degrees in order to prevent losing orientation by looking upwards
 		currentConfig =
 				new BodyPartConfiguration(Head, Neck, new Vector3D(0, 0, 0.065), 0.35f, new Vector3D(0.13, 0.13, 0.13),
-						new HingeJointConfiguration(NeckPitch, NeckPitchP, NeckPitchE, new Vector3D(1, 0, 0), -45, 45,
+						new HingeJointConfiguration(NeckPitch, NeckPitchP, NeckPitchE, new Vector3D(1, 0, 0), -45, 0,
 								MAX_JOINT_SPEED, false),
 						new Vector3D(0, 0, -0.005), null, null, null, null, null);
 		configs.add(currentConfig);