HeartToHeart 4 version 1.1.0 English Patch (OLD)

KHR-1, KHR-2HV, KHR-3HV, ICS servos, RCB controllers and other Kondo products
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HeartToHeart 4 version 1.1.0 English Patch (OLD)

Post by chrisvo » Tue Jan 05, 2010 10:27 am

Post by chrisvo
Tue Jan 05, 2010 10:27 am

I have contributed a patch for HeartToHeart4 which provides English language replacements for the text in the program (labels, buttons, tooltips, etc). I hope this will do until Kondo releases an official English language version of HeartToHeart4.

NOTE: This patch is for the old HeartToHeart4 version 1.1.0 ONLY! There is a new version 1.2.2 from Kondo, and I have released the patch for 1.2.2 here!

Download link:
http://masc.cs.gmu.edu/~cvo1/kondo/hth4_en-patch_v1.1.0.zip
Extract somewhere and read the included en_patch_readme.txt file for instructions.

If you found this patch helpful, or if you found a bug (particularly, a crash), please don't hesitate to reply!

EDIT: Uploaded a new version which hopefully fixes issues with false positives on AVG virus scanner. That problem has to do with the the VPatch program I used to generate the patch.

EDIT (2): You can find the original HeartToHeart4 v1.1.0 from Kondo's web site: http://kondo-robot.com/software/HTH4_V110.zip

Screenshot (click for larger version):
Image
I have contributed a patch for HeartToHeart4 which provides English language replacements for the text in the program (labels, buttons, tooltips, etc). I hope this will do until Kondo releases an official English language version of HeartToHeart4.

NOTE: This patch is for the old HeartToHeart4 version 1.1.0 ONLY! There is a new version 1.2.2 from Kondo, and I have released the patch for 1.2.2 here!

Download link:
http://masc.cs.gmu.edu/~cvo1/kondo/hth4_en-patch_v1.1.0.zip
Extract somewhere and read the included en_patch_readme.txt file for instructions.

If you found this patch helpful, or if you found a bug (particularly, a crash), please don't hesitate to reply!

EDIT: Uploaded a new version which hopefully fixes issues with false positives on AVG virus scanner. That problem has to do with the the VPatch program I used to generate the patch.

EDIT (2): You can find the original HeartToHeart4 v1.1.0 from Kondo's web site: http://kondo-robot.com/software/HTH4_V110.zip

Screenshot (click for larger version):
Image
Last edited by chrisvo on Mon Mar 08, 2010 6:39 am, edited 5 times in total.
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Re: HeartToHeart 4 English Language Patch

Post by Novice » Tue Jan 05, 2010 4:41 pm

Post by Novice
Tue Jan 05, 2010 4:41 pm

chrisvo wrote:I have contributed a patch for HeartToHeart4 which provides English language replacements for the text in the program (labels, buttons, tooltips, etc). I hope this will do until Kondo releases an official English language version of HeartToHeart4.

Download link:
http://masc.cs.gmu.edu/~cvo1/kondo/hth4_en-patch_v1.1.0.zip
Extract somewhere and read the included en_patch_readme.txt file for instructions.

If you found this patch helpful, or if you found a bug (particularly, a crash), please don't hesitate to reply!

Screenshot (click for larger version):
Image


Hi Chrisvo
Thanks for that!
I have some questions.
1.I got an alert message in time I was unzipping your archive "Threat detected",Trojan horse Agent2.MMZ was detected.Make sure , please, am I right or not?
2.I bought the KHR-3 kit from Robosavvy 1 month ago,the V 1.0.0. H2H4 version was included instead of 1.1.0.Where did you get the one?Is it a mistake or not?
Regards
Oleg from Ukraine
chrisvo wrote:I have contributed a patch for HeartToHeart4 which provides English language replacements for the text in the program (labels, buttons, tooltips, etc). I hope this will do until Kondo releases an official English language version of HeartToHeart4.

Download link:
http://masc.cs.gmu.edu/~cvo1/kondo/hth4_en-patch_v1.1.0.zip
Extract somewhere and read the included en_patch_readme.txt file for instructions.

If you found this patch helpful, or if you found a bug (particularly, a crash), please don't hesitate to reply!

Screenshot (click for larger version):
Image


Hi Chrisvo
Thanks for that!
I have some questions.
1.I got an alert message in time I was unzipping your archive "Threat detected",Trojan horse Agent2.MMZ was detected.Make sure , please, am I right or not?
2.I bought the KHR-3 kit from Robosavvy 1 month ago,the V 1.0.0. H2H4 version was included instead of 1.1.0.Where did you get the one?Is it a mistake or not?
Regards
Oleg from Ukraine
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Post by chrisvo » Tue Jan 05, 2010 6:27 pm

Post by chrisvo
Tue Jan 05, 2010 6:27 pm

Are you using AVG virus scanner? See my opening post, I have uploaded a new version to fix that issue.

As far HTH4 1.1.0, you can get it from:
http://kondo-robot.com/software/HTH4_V110.zip
Are you using AVG virus scanner? See my opening post, I have uploaded a new version to fix that issue.

As far HTH4 1.1.0, you can get it from:
http://kondo-robot.com/software/HTH4_V110.zip
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Post by Ausrobo » Wed Jan 06, 2010 12:04 am

Post by Ausrobo
Wed Jan 06, 2010 12:04 am

Chrisvo,

Thankyou so much – you are definitely the Kondo programming champion!!!!
I will not be able to try this out until the weekend, but I will let you know how it goes

Thanks !!!

Peter
Chrisvo,

Thankyou so much – you are definitely the Kondo programming champion!!!!
I will not be able to try this out until the weekend, but I will let you know how it goes

Thanks !!!

Peter
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Post by Novice » Sat Jan 09, 2010 12:10 pm

Post by Novice
Sat Jan 09, 2010 12:10 pm

chrisvo wrote:Are you using AVG virus scanner? See my opening post, I have uploaded a new version to fix that issue.

As far HTH4 1.1.0, you can get it from:
http://kondo-robot.com/software/HTH4_V110.zip

Hi Christopher,
You right, I used AVG for. Thanks for you I fixed the virus problem shown upper.
So,very strange...I loaded your ZIP file.I've not seen the en_patch.exe file you are talking about.Forgot to attach it?
Best regards
Oleg
chrisvo wrote:Are you using AVG virus scanner? See my opening post, I have uploaded a new version to fix that issue.

As far HTH4 1.1.0, you can get it from:
http://kondo-robot.com/software/HTH4_V110.zip

Hi Christopher,
You right, I used AVG for. Thanks for you I fixed the virus problem shown upper.
So,very strange...I loaded your ZIP file.I've not seen the en_patch.exe file you are talking about.Forgot to attach it?
Best regards
Oleg
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Post by chrisvo » Sat Jan 09, 2010 8:33 pm

Post by chrisvo
Sat Jan 09, 2010 8:33 pm

So,very strange...I loaded your ZIP file.I've not seen the en_patch.exe file you are talking about.Forgot to attach it?


No, I forgot to update my instructions. It's fixed now.
So,very strange...I loaded your ZIP file.I've not seen the en_patch.exe file you are talking about.Forgot to attach it?


No, I forgot to update my instructions. It's fixed now.
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Thanks

Post by Ausrobo » Sun Jan 10, 2010 9:27 pm

Post by Ausrobo
Sun Jan 10, 2010 9:27 pm

Chrisvo,

Thanks again for the English patch – it works really well and now I can use H2H. My KHR- 3HV is working well, its a great robot!!!

Peter
Chrisvo,

Thanks again for the English patch – it works really well and now I can use H2H. My KHR- 3HV is working well, its a great robot!!!

Peter
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Post by SpecialPT » Mon Feb 15, 2010 12:11 am

Post by SpecialPT
Mon Feb 15, 2010 12:11 am

Chrisvo - you are a complete star! I would have really struggled with the H2H software without your patch. I do have a slight problem in that not all fields appear to be being tranlsated. Most of it has been translated fine but the servo descriptions in the Project Config/Setup screen and the Position Setting screens (e.g. Left Shoulder...) are not although they should be according to your own screen grabs. (In mine the servo description are appearing as blank squares and not even japanese characters but I'm assuming this is becasue I don't ahve the japanese character set installed). I followed your installation instructions to a t and most of it working fine, its just that the servo descriptions don't seem to be being translated. Any ideas?
Chrisvo - you are a complete star! I would have really struggled with the H2H software without your patch. I do have a slight problem in that not all fields appear to be being tranlsated. Most of it has been translated fine but the servo descriptions in the Project Config/Setup screen and the Position Setting screens (e.g. Left Shoulder...) are not although they should be according to your own screen grabs. (In mine the servo description are appearing as blank squares and not even japanese characters but I'm assuming this is becasue I don't ahve the japanese character set installed). I followed your installation instructions to a t and most of it working fine, its just that the servo descriptions don't seem to be being translated. Any ideas?
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Post by chrisvo » Mon Feb 15, 2010 12:52 am

Post by chrisvo
Mon Feb 15, 2010 12:52 am

the servo descriptions don't seem to be being translated. Any ideas?


The short answer to your question is that I avoided translating these intentionally --- to maintain compatibility with existing projects and motions included with the HTH4 software (like the included "Hello_KHR3" example)

The servo channel descriptions, for example, are stored in the of the project XML files. However, I did translate the code in HTH4 which generates the XML project files --- for example, if you create a brand new project with the patched H2H4, it will show English names for each of the robot parts, and save them to the file that way. However, I'm not sure to what extent HTH4 uses the names of the channels, and I've had problems (crashes, etc) with this in the past, so I might have to release another patch. Unfortunately, I cannot test HTH right now, because I'm still waiting for a replacement RCB-4 because my current one blew up.

I did not translate descriptions next to toolbox items (like POS, AD, etc) because HTH4 saves these descriptions in each of the motion files. When you load the motion files, HTH4 uses the descriptions in the motion file to match items in the motion file with toolbox items in HTH4 so you can edit them. Therefore, if I change the toolbox descriptions to English strings, then the motion files included with HTH4 (which still have Japanese descriptions in them) will not work.
the servo descriptions don't seem to be being translated. Any ideas?


The short answer to your question is that I avoided translating these intentionally --- to maintain compatibility with existing projects and motions included with the HTH4 software (like the included "Hello_KHR3" example)

The servo channel descriptions, for example, are stored in the of the project XML files. However, I did translate the code in HTH4 which generates the XML project files --- for example, if you create a brand new project with the patched H2H4, it will show English names for each of the robot parts, and save them to the file that way. However, I'm not sure to what extent HTH4 uses the names of the channels, and I've had problems (crashes, etc) with this in the past, so I might have to release another patch. Unfortunately, I cannot test HTH right now, because I'm still waiting for a replacement RCB-4 because my current one blew up.

I did not translate descriptions next to toolbox items (like POS, AD, etc) because HTH4 saves these descriptions in each of the motion files. When you load the motion files, HTH4 uses the descriptions in the motion file to match items in the motion file with toolbox items in HTH4 so you can edit them. Therefore, if I change the toolbox descriptions to English strings, then the motion files included with HTH4 (which still have Japanese descriptions in them) will not work.
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Post by ks_khr3 » Wed Jun 23, 2010 5:30 pm

Post by ks_khr3
Wed Jun 23, 2010 5:30 pm

Chris, you're amazing! The English conversion went very well and helps a lot!!!

As a side note, I was visiting ISX today and showed them your great work! Yamasaki-san was amazed. I asked him how come Kondo does not work with someone like you and open up the source a bit to get the English version out the door asap. He said it is in their plans to release an English version of HTH but they are apparently waiting for a new release. He shared with me that a new version of HTH with significant changes is in the making. Apparently some folks find HTH complicated and ask for a simpler software. Kondo seems to be working on addressing this need. So their plan is to release that version and then work on English conversion.

Till then, your patch rules! Thank you very much

PS. Hope RoboCup in Singapore is going good for your team! All the best
Chris, you're amazing! The English conversion went very well and helps a lot!!!

As a side note, I was visiting ISX today and showed them your great work! Yamasaki-san was amazed. I asked him how come Kondo does not work with someone like you and open up the source a bit to get the English version out the door asap. He said it is in their plans to release an English version of HTH but they are apparently waiting for a new release. He shared with me that a new version of HTH with significant changes is in the making. Apparently some folks find HTH complicated and ask for a simpler software. Kondo seems to be working on addressing this need. So their plan is to release that version and then work on English conversion.

Till then, your patch rules! Thank you very much

PS. Hope RoboCup in Singapore is going good for your team! All the best
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Post by chrisvo » Thu Jun 24, 2010 1:15 am

Post by chrisvo
Thu Jun 24, 2010 1:15 am

Thanks! We are at RoboCup 2010 now, we won one match (against BogoBots-TecMTY Mexico), tied 2 matches (against PKU-SHRC China and JEAP Japan), and lost 2 matches (CIT Brains Japan, and HuroEvolution Taiwan). This record is not bad for our small team!

Here's a video of one of our goals vs. BogoBots
http://www.youtube.com/watch?v=iU9DgzoPYrQ

Here's a video of some testing of our robot:
http://www.youtube.com/watch?v=etx-CsXM3x4

We got many compliments about the motion of our robots. First of all, at RoboCup, you'll find that most of the humanoid teams are using Robotis Dynamixel servos, because Robotis has excellent support, and good and complete English documentation. Robotis is also an exhibitor at RoboCup and it's said they provide face-to-face support there at the competition as well.

People are very curious about Kondo servos especially because their design and accuracy. Two or three teams here at RoboCup use Kondo serial servos, with good success. For example, Singapore's team RoboErectus Jr. uses KRS-6003 servos in their entire body. Their robot is the sleek looking robot that is featured in all of the flyers and posters for RoboCup, and they have pretty good motions. They run very fast.

We would love to see Kondo offer more support to the Western world. I was speaking with my colleagues earlier about how RoboCup is an great opportunity for servo manufacturers because most of these teams end up replacing servos once or twice a week during testing. Here at RoboCup, our servos were stressed out and started breaking too in our last matches. The metal gears always seem to be OK but the h-bridge and electronics on the servos seem to damage pretty easily. I wish there were serial servos exactly in the same form factor as the 3HV's servos but stronger and more reliable.

We got many remarks about how smooth and stable our motions are despite all the modifications we've done to the 3HV. Heart2Heart4 has some usability flaws but it works very well compared to HTH3.
Thanks! We are at RoboCup 2010 now, we won one match (against BogoBots-TecMTY Mexico), tied 2 matches (against PKU-SHRC China and JEAP Japan), and lost 2 matches (CIT Brains Japan, and HuroEvolution Taiwan). This record is not bad for our small team!

Here's a video of one of our goals vs. BogoBots
http://www.youtube.com/watch?v=iU9DgzoPYrQ

Here's a video of some testing of our robot:
http://www.youtube.com/watch?v=etx-CsXM3x4

We got many compliments about the motion of our robots. First of all, at RoboCup, you'll find that most of the humanoid teams are using Robotis Dynamixel servos, because Robotis has excellent support, and good and complete English documentation. Robotis is also an exhibitor at RoboCup and it's said they provide face-to-face support there at the competition as well.

People are very curious about Kondo servos especially because their design and accuracy. Two or three teams here at RoboCup use Kondo serial servos, with good success. For example, Singapore's team RoboErectus Jr. uses KRS-6003 servos in their entire body. Their robot is the sleek looking robot that is featured in all of the flyers and posters for RoboCup, and they have pretty good motions. They run very fast.

We would love to see Kondo offer more support to the Western world. I was speaking with my colleagues earlier about how RoboCup is an great opportunity for servo manufacturers because most of these teams end up replacing servos once or twice a week during testing. Here at RoboCup, our servos were stressed out and started breaking too in our last matches. The metal gears always seem to be OK but the h-bridge and electronics on the servos seem to damage pretty easily. I wish there were serial servos exactly in the same form factor as the 3HV's servos but stronger and more reliable.

We got many remarks about how smooth and stable our motions are despite all the modifications we've done to the 3HV. Heart2Heart4 has some usability flaws but it works very well compared to HTH3.
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Post by ks_khr3 » Sat Jul 03, 2010 2:22 pm

Post by ks_khr3
Sat Jul 03, 2010 2:22 pm

Hi Chris,

Just had a chance to watch your videos. Its amazing. Hope you had lots of fun in Singapore. Quick question. You are using a linux board etc to drive the autonomous behavior right? I will be very amazed if you managed all that with the stock HTH4 & the RCV4 board that comes with the KHR-3. Is there any chance for you to share more on what went into your robot?

Thanks much in advance!
Hi Chris,

Just had a chance to watch your videos. Its amazing. Hope you had lots of fun in Singapore. Quick question. You are using a linux board etc to drive the autonomous behavior right? I will be very amazed if you managed all that with the stock HTH4 & the RCV4 board that comes with the KHR-3. Is there any chance for you to share more on what went into your robot?

Thanks much in advance!
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Post by chrisvo » Sat Jul 03, 2010 2:42 pm

Post by chrisvo
Sat Jul 03, 2010 2:42 pm

We use the RCB-4 just for motion. The computer is a Surveyor SRV-1 SVS (Stereo Vision System). It can run Linux, but we decided to run it without an OS.

The full specifications are here:
http://cs.gmu.edu/~robotics/Main/RoboPatriots

While Heart2Heart4 has the capability to program jump, loop, counter, and AD/PIO input, you need a lot more capabilities than that for RoboCup... We wrote a C library to control the RCB-4, it works from Linux, and with some small modifications works directly on the bare metal of the SRV-1 SVS we used on our robot. It includes the capability to directly control servos through the RCB-4 and read servo position data, play motions, and more.

That C library we wrote is here:
http://bitbucket.org/vo/libkondo4

We were in Tokyo for several days after RoboCup but did not get a chance to visit IXS...
We use the RCB-4 just for motion. The computer is a Surveyor SRV-1 SVS (Stereo Vision System). It can run Linux, but we decided to run it without an OS.

The full specifications are here:
http://cs.gmu.edu/~robotics/Main/RoboPatriots

While Heart2Heart4 has the capability to program jump, loop, counter, and AD/PIO input, you need a lot more capabilities than that for RoboCup... We wrote a C library to control the RCB-4, it works from Linux, and with some small modifications works directly on the bare metal of the SRV-1 SVS we used on our robot. It includes the capability to directly control servos through the RCB-4 and read servo position data, play motions, and more.

That C library we wrote is here:
http://bitbucket.org/vo/libkondo4

We were in Tokyo for several days after RoboCup but did not get a chance to visit IXS...
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Post by ks_khr3 » Sat Jul 03, 2010 3:47 pm

Post by ks_khr3
Sat Jul 03, 2010 3:47 pm

Hi Chris,

Thanks for your post. IXS is a little far out at Yokohama but I hope you had a chance to browse some of the robot shops at Akihabara. I am sure they would be amazed to see what you've done with the KHR-3.

You're absolutely right about the HTH software. While its good enough for basic motion programming & execution it gets very limiting very quickly. Its implementation of conditional loops is very restricting. Just managed to figure out how to put my motion into an infinite loop. Nested loops & if then / else type stuff is going to make it tougher & tougher.

So far my little victory is to put the KHR-3 into an infinite loop waiting for someone to come nearby and then trigger the greeting motion and then go back to waiting. Ultrasonic TX/RX works well. Next on the list is to install the IR seekers and program an IR ball seeking routine. I have to checkout your vision engine. Obviously its working very well.

Will look at your C library right away. Thank you so very much for openly sharing. I appreciate it.

Regards
Hi Chris,

Thanks for your post. IXS is a little far out at Yokohama but I hope you had a chance to browse some of the robot shops at Akihabara. I am sure they would be amazed to see what you've done with the KHR-3.

You're absolutely right about the HTH software. While its good enough for basic motion programming & execution it gets very limiting very quickly. Its implementation of conditional loops is very restricting. Just managed to figure out how to put my motion into an infinite loop. Nested loops & if then / else type stuff is going to make it tougher & tougher.

So far my little victory is to put the KHR-3 into an infinite loop waiting for someone to come nearby and then trigger the greeting motion and then go back to waiting. Ultrasonic TX/RX works well. Next on the list is to install the IR seekers and program an IR ball seeking routine. I have to checkout your vision engine. Obviously its working very well.

Will look at your C library right away. Thank you so very much for openly sharing. I appreciate it.

Regards
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Post by chrisvo » Sat Jul 03, 2010 3:57 pm

Post by chrisvo
Sat Jul 03, 2010 3:57 pm

One thing they did which was pretty ingenious was letting you call other motions from the one you're in. This lets you have subroutines essentially. They provide an example with the 3-3-7 clap motion that is provided.

You can come up with some pretty complicated programs on the RCB-4. Too bad there's not a lot of space, only 50 motion slots.

I did explore Akihabara and several robot shops. Very interesting place indeed. I bought a few electronic parts...
One thing they did which was pretty ingenious was letting you call other motions from the one you're in. This lets you have subroutines essentially. They provide an example with the 3-3-7 clap motion that is provided.

You can come up with some pretty complicated programs on the RCB-4. Too bad there's not a lot of space, only 50 motion slots.

I did explore Akihabara and several robot shops. Very interesting place indeed. I bought a few electronic parts...
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