Release 0.11.0. Improves planning behavior. This release is only supp…

…orted on Atlas.

.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

@@ -1,6 +1,20 @@
 # IHMC Open Robotics Software
 
+### 0.11 Build Info
+Build 4570
+https://bamboo.ihmc.us/browse/LIBS-IHMCOPENROBOTICSSOFTWARE-1067
+
 ### Tested Platforms
+
+#### Robots
+
+- Atlas
+   * This release is fully tested on Atlas hardware. See 0.11 Release Notes for detailed results.
+
+**This release DOES NOT support the Valkyrie hardware platform, as we do not have hardware to test on.**
+
+#### Developers
+
 We test all of our software on OS X 10.12 Sierra, Windows 7/8/10, and Ubuntu 14.04 and 16.04 LTS, Desktop and Server. It is likely to work on other platforms but
 not necessarily tested.
 
@@ -23,19 +37,10 @@ repositories {
    maven {
       url  "http://dl.bintray.com/ihmcrobotics/maven-release" // IHMC Code releases
    }
-
    maven {
       url  "http://dl.bintray.com/ihmcrobotics/maven-vendor" // Third-party libraries that we have vendored for various reasons
    }
 
-   /*  Artifactory instance hosted at IHMC for some legacy vendored
-    *  dependencies without live source access that can't be uploaded
-    *  to Bintray.
-   */
-   maven {
-   		url "https://artifactory.ihmc.us/artifactory/thirdparty/"
-   }
-
    /* You will also need to add either jcenter() or mavenCentral() or both, depending on your preference */
 }
 ```
@@ -46,16 +51,13 @@ repositories {
 *IHMC Open Robotics Software* uses the [Gradle](https://gradle.org) build system, and requires JDK 8 with JavaFX. We also strongly suggest an IDE, either Eclipse Mars.1
 or IntelliJ IDEA 15+ (Ultimate or Community is fine). Currently, we require **Gradle 4.1+**. We provide a versioned [Gradle wrapper](https://docs.gradle.org/current/userguide/gradle_wrapper.html)
 for getting started quickly. The Gradle wrapper will always reflect the minimum version of Gradle required to build the software; if we adopt features only present
-in newer versions of Gradle as they are release we will update the wrapper. You can also install Gradle system-wide:
+in newer versions of Gradle as they are release we will update the wrapper. You can also install Gradle system-wide (local installation):
 
-* *OS X*: The latest Gradle is available via [Homebrew](https://github.com/homebrew/homebrew)
-* *Ubuntu*: The version pre-packaged with Ubuntu is woefully out of date. You will need to add [this PPA](https://launchpad.net/~cwchien/+archive/ubuntu/gradle)
-* *Windows*: Consult the official Gradle documentation installation instructions.
+Installing Gradle: https://gradle.org/install/
 
 #### IDE Support
-Our Gradle models are tested in IntelliJ IDEA 15+ (both Community and Ultimate) with the built-in Gradle integration, and Eclipse Mars.1 or higher with the Buildship
-plugin. The Buildship plugin is bundled with the Eclipse IDE for Java Developers as of Mars.1 (but *not* Java EE Developers), or it can be downloaded from the Eclipse
-Marketplace in other versions of Eclipse.
+Our Gradle models are tested in IntelliJ IDEA 2017.3+ (both Community and Ultimate) with the Gradle plugin.
+Eclipse Oxygen+ or higher with the Buildship plugin. The Buildship plugin is bundled with the Eclipse IDE for Java Developers (but *not* Java EE Developers). It can always be manually installed to any version of Eclipse using the [installation instructions] (https://github.com/eclipse/buildship/blob/master/docs/user/Installation.md).
 
 #### Building .jars
 *IHMC Open Robotics Software* is pre-configured for generating Maven publications. You can publish directly from the source code right in to your local Maven
@@ -70,7 +72,7 @@ An example workflow for developing against a local clone of the software:
 **To publish jars to your local Maven repository:**  
 ```bash
 $ cd /path/to/ihmc-open-robotics-software
-$ ./gradlew publishAllToMavenLocal
+$ ./gradlew compositeTask -PtaskName=publishToMavenLocal -PdepthFromWorkspaceDirectory=0 -PpublishMode=STABLE
 ```
 
 **To depend on the jars in your local Maven repository:**
@@ -91,8 +93,11 @@ dependencies {
 
 #### Depending directly on the source
 For *IHMC Open Robotics Software* and [ihmc-build](https://github.com/ihmcrobotics/ihmc-build) to work correctly when depending directly on the source, your
-project hierarchy needs to take a particular form. In your system home folder, create a directory called `ihmc-workspace`.Inside that directory, this repo and
-create the files `build.gradle`, `settings.gradle`, `gradle.properties`. This is also the directory where you'll put any of your own projects that need to depend
+project hierarchy needs to take a particular form.
+
+1. In your system home folder (or C:/ drive in Windows), create a directory called `ihmc-workspace`.
+1. Initialize the `ihmc-workspace` directory as an IHMC repository group using the "Convert an existing project group" instructions in [this README] (https://github.com/ihmcrobotics/repository-group).
+1. This is also the directory where you'll put any of your own projects that need to depend
 on IHMC source code. Your directory structure should look something like:
 
 ```
@@ -112,64 +117,6 @@ ihmc-workspace
 └── ...
 ```
 
-Copy the following text into the `build.gradle` in your `ihmc-workspace` directory:
-
-```gradle
-buildscript {
-   repositories {
-      maven { url "https://plugins.gradle.org/m2/" }
-      mavenLocal()
-      jcenter()
-   }
-   dependencies {
-      classpath "gradle.plugin.us.ihmc:ihmc-build:0.9.5"
-   }
-}
-apply plugin: "us.ihmc.ihmc-build"
-```
-
-Copy the following text into the `settings.gradle` in your `ihmc-workspace` directory:
-
-```gradle
-buildscript {
-   repositories {
-      maven { url "https://plugins.gradle.org/m2/" }
-      mavenLocal()
-   }
-   dependencies {
-      classpath "gradle.plugin.us.ihmc:ihmc-build:0.9.5"
-   }
-}
-
-import us.ihmc.build.IHMCSettingsConfigurator
-
-def ihmcSettingsConfigurator = new IHMCSettingsConfigurator(settings, logger, ext)
-ihmcSettingsConfigurator.configureProjectName(hyphenatedName) // rootProject.name = hyphenatedName
-ihmcSettingsConfigurator.configureAsGroupOfProjects() // isProjectGroup = true
-
-if (Boolean.valueOf(includeBuildsFromWorkspace))
-{
-   ihmcSettingsConfigurator.findAndIncludeCompositeBuilds() // Search workspace and `includeBuild` matches
-}
-```
-
-Copy the following text into the `gradle.properties` in your `ihmc-workspace` directory:
-
-```gradle
-isProjectGroup = true
-hyphenatedName = ihmc-robotics
-pascalCasedName = IHMCRobotics
-publishMode = SNAPSHOT
-groupDependencyVersion = SNAPSHOT-LATEST
-depthFromWorkspaceDirectory = 0
-includeBuildsFromWorkspace = true
-excludeFromCompositeBuild = false
-artifactoryUsername = unset_username
-artifactoryPassword = unset_password
-bintray_user = unset_user
-bintray_key = unset_key
-```
-
 If this is set up correctly, you can either apply the `ihmc-build` plugin from the [Plugin portal](https://plugins.gradle.org/plugin/us.ihmc.gradle.ihmc-build)
 and use the dependency resolver methods exposed by the build extensions, or you can manually identify dependencies on projects using the normal Gradle syntax for
 project dependencies. A sample build.gradle dependency block:
@@ -182,6 +129,19 @@ dependencies {
 /* OR */
 
 mainDependencies {
-  compile compile group: "us.ihmc", name: "ihmc-java-toolkit", version: groupDependencyVersion // ihmc-build way of doing things
+  compile group: "us.ihmc", name: "ihmc-java-toolkit", version: "source" // ihmc-build way of doing things
 }
 ```
+
+## Support
+
+Chat support is provided via the IHMC Robotics Slack on the #help-desk channel.
+
+## Maintainers
+
+Duncan Calvert ([email protected])
+Doug Stephen ([email protected])
+Stephen McCrory ([email protected])
+Sylvain Bertrand ([email protected])
+Georg Wiedebach ([email protected])
+Robert Griffin ([email protected])

acsell/build.gradle

@@ -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/gradle.properties

@@ -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/Configurations/StepperWalkingDebug.guiConf → acsell/saved-configurations/StepperWalkingDebug.guiConf

@@ -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/bono_RemoteStepprVisualizer_GuiConfiguration.dat → acsell/saved-configurations/bono_RemoteStepprVisualizer_GuiConfiguration.dat

@@ -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/bono_StepprStandPrepSliderboard_GuiConfiguration.dat → acsell/saved-configurations/bono_StepprStandPrepSliderboard_GuiConfiguration.dat

@@ -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/saved-configurations/defaultREAModuleConfiguration.txt

@@ -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/saved-configurations/defaultREAUIConfiguration.txt

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

acsell/Configurations/wanderer_WandererStandPrepSliderboard_GuiConfiguration.dat → acsell/saved-configurations/wanderer_WandererStandPrepSliderboard_GuiConfiguration.dat

@@ -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/settings.gradle

@@ -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()