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got getupfront to work
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@manx52
manx52 committed Dec 2, 2024
1 parent ca39f04 commit 018deb6
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Showing 29 changed files with 243 additions and 250 deletions.
1 change: 1 addition & 0 deletions .idea/soccerbot.iml
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87 changes: 38 additions & 49 deletions .idea/workspace.xml
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4 changes: 2 additions & 2 deletions soccer_control/soccer_pycontrol/config/assembly/assembly_sim_pybullet.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,6 @@ foot_zmp_target_y: 0.0 # Reference target ZMP position in the foot [m]

# Limit parameters
walk_max_dtheta: 1 # Maximum dtheta per step [rad]
walk_max_dy: 0.04 # Maximum dy per step [m]
walk_max_dy: 0.1 # Maximum dy per step [m]
walk_max_dx_forward: 0.1 # Maximum dx per step forward [m]
walk_max_dx_backward: 0.03 # Maximum dx per step backward [m]
walk_max_dx_backward: 0.1 # Maximum dx per step backward [m]
2 changes: 1 addition & 1 deletion soccer_control/soccer_pycontrol/test/test_placo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ def test_bez1(self):
# walk.ready()
# self.bez.motor_control.set_motor()
# walk.wait(50)
target_goal = [0.03, 0, 0, 10, 500]
target_goal = [1, 0, 0.0, 10, 500]
# target_goal = Transformation(position=[1, 0, 0], euler=[0, 0, 0])
print("STARTING WALK")
walk.walk(target_goal, display_metrics=False)
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10 changes: 5 additions & 5 deletions soccer_control/soccer_trajectories/test/test_trajectory.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,9 +27,9 @@ def test_trajectory(self):
joint_state = JointState()
joint_state.name = [
"right_hip_yaw",
"left_leg_motor_0",
"left_hip_yaw",
"right_hip_roll",
"left_leg_motor_1",
"left_hip_roll",
"right_hip_pitch",
"left_leg_motor_2",
"right_knee",
Expand All @@ -52,7 +52,7 @@ def test_trajectory(self):
self.assertEqual(angles, [0.0, 0.0, 0.0, 0.0, 0.564, 0.564, -1.176, -1.176, 0.613, 0.613, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])


@pytest.mark.parametrize("trajectory_name", ["getupfront"]) # , "getupback_full", "rightkick", "getupfront"])
@pytest.mark.parametrize("trajectory_name", ["rightkick_2"]) # , "getupback_full", "rightkick", "getupfront"])
@pytest.mark.parametrize("robot_model", ["assembly"])
@pytest.mark.parametrize("real_time", [True])
def test_trajectory_sim(trajectory_name: str, robot_model: str, real_time: bool):
Expand All @@ -63,8 +63,8 @@ def test_trajectory_sim(trajectory_name: str, robot_model: str, real_time: bool)
# TODO update with pybullet updates
if trajectory_name == "getupfront":
pose = Transformation(position=[0, 0, 0.070], euler=[0, 1.57, 0])
camera = 45
elif trajectory_name == "getupback_full" or trajectory_name == "getupback_roll":
camera = 0
elif trajectory_name == "getupback_full" or trajectory_name == "getupback_roll" or trajectory_name == "getupback":
pose = Transformation(position=[0, 0, 0.070], euler=[0, -1.57, 0])
camera = 0
else:
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20 changes: 10 additions & 10 deletions soccer_control/soccer_trajectories/trajectories/bez1/getupback.csv
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Original file line number Diff line number Diff line change
@@ -1,17 +1,17 @@
time,0,1,2,3,4,5,6,6.75,7.5,8.25,9,9.75,10.5,11.25,12,12.75,13.5,14.25,15,15.75,16.5,17.25,18,18.75,19.5
right_hip_yaw,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
left_leg_motor_0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
left_hip_yaw,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
right_hip_roll,0.2,0.2,0.2,-0.4,-0.4,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,-0.05,-0.05
left_leg_motor_1,0,0,0,-0.1,0.7,0.7,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,-0.05,-0.05
left_hip_roll,0,0,0,-0.1,0.7,0.7,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,-0.05,-0.05
right_hip_pitch,0,1.5,1.8,1.8,1.8,0,0,0,0,0,0,1,1.5,1.5,1.5,1.8,1.8,1.8,1.8,1.8,1.5,1.2,0.9,0.75,0.6
left_leg_motor_2,0,1.5,-0.5,-0.5,1,1,0,0,0,0,0,1,1.5,1.5,1.5,1.8,1.8,1.8,1.8,1.8,1.5,1.2,0.9,0.75,0.6
left_hip_pitch,0,1.5,-0.5,-0.5,1,1,0,0,0,0,0,1,1.5,1.5,1.5,1.8,1.8,1.8,1.8,1.8,1.5,1.2,0.9,0.75,0.6
right_knee,0,-1.8,-1.8,-1.8,-1.8,-1.8,0,0,0,0,0,-1,-1.3,-1.3,-1.3,-1.8,-1.8,-1.8,-1.8,-1.8,-1.8,-1.5,-1.2,-1.3,-1.4
left_leg_motor_3,0,-1.2,-1.2,-0.4,-0.4,-0.4,0,0,0,0,0,-1,-1.3,-1.3,-1.3,-1.8,-1.8,-1.8,-1.8,-1.8,-1.8,-1.5,-1.2,-1.3,-1.4
left_knee,0,-1.2,-1.2,-0.4,-0.4,-0.4,0,0,0,0,0,-1,-1.3,-1.3,-1.3,-1.8,-1.8,-1.8,-1.8,-1.8,-1.8,-1.5,-1.2,-1.3,-1.4
right_ankle_pitch,0,0.9,0.9,0.9,0.9,0.9,0,0,0,0,1.1,1.3,1.3,1.3,1.3,1.3,1.3,1.3,0.9,0.6,0.6,0.5,0.46,0.6,0.8
left_leg_motor_4,0,0.9,0.9,1.3,1.3,1.3,0,0,0,0,1.1,1.3,1.3,1.3,1.3,1.3,1.3,1.3,0.9,0.6,0.6,0.5,0.46,0.6,0.8
left_ankle_pitch,0,0.9,0.9,1.3,1.3,1.3,0,0,0,0,1.1,1.3,1.3,1.3,1.3,1.3,1.3,1.3,0.9,0.6,0.6,0.5,0.46,0.6,0.8
right_ankle_roll,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.05,0
left_leg_motor_5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.05,0
right_arm_motor_0,0,1,-2,0,2,3,3,-1.5,0,1.5,1.5,1.5,1.5,1,0.7,0.2,-0.5,0,0.3,0.8,0.7,0.6,0.5,0.6,0.75
left_arm_motor_0,0,1,1,3,3,3,3,-1.5,0,1.5,1.5,1.5,1.5,1,0.7,0.2,-0.5,0,0.3,0.8,0.7,0.6,0.5,0.6,0.75
right_arm_motor_1,0,2,2,2,2,2,0,2.5,3,1.5,2,2,2,2.3,2.5,2.8,2.6,2.6,1.3,0,0,0,0,0,0
left_arm_motor_1,0,2,2,2,2,2,0,2.5,3,1.5,2,2,2,2.3,2.5,2.8,2.6,2.6,1.3,0,0,0,0,0,0
left_ankle_roll,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.05,0
right_shoulder_pitch,0,1,-2,0,2,3,3,-1.5,0,1.5,1.5,1.5,1.5,1,0.7,0.2,-0.5,0,0.3,0.8,0.7,0.6,0.5,0.6,0.75
left_shoulder_pitch,0,1,1,3,3,3,3,-1.5,0,1.5,1.5,1.5,1.5,1,0.7,0.2,-0.5,0,0.3,0.8,0.7,0.6,0.5,0.6,0.75
right_elbow,0,2,2,2,2,2,0,2.5,3,1.5,2,2,2,2.3,2.5,2.8,2.6,2.6,1.3,0,0,0,0,0,0
left_elbow,0,2,2,2,2,2,0,2.5,3,1.5,2,2,2,2.3,2.5,2.8,2.6,2.6,1.3,0,0,0,0,0,0
22 changes: 12 additions & 10 deletions soccer_control/soccer_trajectories/trajectories/bez1/getupfront.csv
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Original file line number Diff line number Diff line change
@@ -1,17 +1,19 @@
time,0,0.75,1.5,2.25,3,3.75,4.5,5.25,6,6.75,7.5,8.25,9,9.75,10.5,11.25,12,12.75,13.5
right_hip_yaw,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
left_leg_motor_0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
left_hip_yaw,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
right_hip_roll,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,-0.05,-0.05
left_leg_motor_1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,-0.05,-0.05
left_hip_roll,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,-0.05,-0.05
right_hip_pitch,0,0,0,0,0,1,1.5,1.5,1.5,1.8,1.8,1.8,1.8,1.8,1.5,1.2,0.9,0.75,0.6
left_leg_motor_2,0,0,0,0,0,1,1.5,1.5,1.5,1.8,1.8,1.8,1.8,1.8,1.5,1.2,0.9,0.75,0.6
left_hip_pitch,0,0,0,0,0,1,1.5,1.5,1.5,1.8,1.8,1.8,1.8,1.8,1.5,1.2,0.9,0.75,0.6
right_knee,0,0,0,0,0,-1,-1.3,-1.3,-1.3,-1.8,-1.8,-1.8,-1.8,-1.8,-1.8,-1.5,-1.2,-1.3,-1.4
left_leg_motor_3,0,0,0,0,0,-1,-1.3,-1.3,-1.3,-1.8,-1.8,-1.8,-1.8,-1.8,-1.8,-1.5,-1.2,-1.3,-1.4
left_knee,0,0,0,0,0,-1,-1.3,-1.3,-1.3,-1.8,-1.8,-1.8,-1.8,-1.8,-1.8,-1.5,-1.2,-1.3,-1.4
right_ankle_pitch,0,0,0,0,1.1,1.3,1.3,1.3,1.3,1.3,1.3,1.3,0.9,0.6,0.6,0.5,0.46,0.6,0.8
left_leg_motor_4,0,0,0,0,1.1,1.3,1.3,1.3,1.3,1.3,1.3,1.3,0.9,0.6,0.6,0.5,0.46,0.6,0.8
left_ankle_pitch,0,0,0,0,1.1,1.3,1.3,1.3,1.3,1.3,1.3,1.3,0.9,0.6,0.6,0.5,0.46,0.6,0.8
right_ankle_roll,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.05,0
left_leg_motor_5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.05,0
right_arm_motor_0,0,-1.5,0,1.5,1.5,1.5,1.5,1,0.7,0.2,-0.5,0,0.3,0.8,0.7,0.6,0.5,0.6,0.75
left_arm_motor_0,0,-1.5,0,1.5,1.5,1.5,1.5,1,0.7,0.2,-0.5,0,0.3,0.8,0.7,0.6,0.5,0.6,0.75
right_arm_motor_1,0,2.5,3,1.5,2,2,2,2.3,2.5,2.8,2.6,2.6,1.3,0,0,0,0,0,0
left_arm_motor_1,0,2.5,3,1.5,2,2,2,2.3,2.5,2.8,2.6,2.6,1.3,0,0,0,0,0,0
left_ankle_roll,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.05,0
right_shoulder_pitch,0,-1.5,0,1.5,1.5,1.5,1.5,1,0.7,0.2,-0.5,0,0.3,0.8,0.7,0.6,0.5,0.6,0.75
left_shoulder_pitch,0,-1.5,0,1.5,1.5,1.5,1.5,1,0.7,0.2,-0.5,0,0.3,0.8,0.7,0.6,0.5,0.6,0.75
right_elbow,0,2.5,3,1.5,2,2,2,2.3,2.5,2.8,2.6,2.6,1.3,0,0,0,0,0,0
left_elbow,0,2.5,3,1.5,2,2,2,2.3,2.5,2.8,2.6,2.6,1.3,0,0,0,0,0,0
right_shoulder_roll,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
left_shoulder_roll,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
20 changes: 10 additions & 10 deletions soccer_control/soccer_trajectories/trajectories/bez1/getupside.csv
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@@ -1,19 +1,19 @@
time,0,0.5
right_hip_yaw,0,0
left_leg_motor_0,0,0
left_hip_yaw,0,0
right_hip_roll,0,0
left_leg_motor_1,0,0
left_hip_roll,0,0
right_hip_pitch,0,0
left_leg_motor_2,0,0
left_hip_pitch,0,0
right_knee,0,0
left_leg_motor_3,0,0
left_knee,0,0
right_ankle_pitch,0,0
left_leg_motor_4,0,0
left_ankle_pitch,0,0
right_ankle_roll,0,0
left_leg_motor_5,0,0
right_arm_motor_0,0,-1.5708
left_arm_motor_0,0,-1.5708
right_arm_motor_1,0,0
left_arm_motor_1,0,0
left_ankle_roll,0,0
right_shoulder_pitch,0,-1.5708
left_shoulder_pitch,0,-1.5708
right_elbow,0,0
left_elbow,0,0
head_motor_0,0,0
head_motor_1,0,0
20 changes: 10 additions & 10 deletions soccer_control/soccer_trajectories/trajectories/bez1/rightkick.csv
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Original file line number Diff line number Diff line change
@@ -1,18 +1,18 @@
time,0.5,1.5,2,2.5,5,8,8.1,8.3
left_leg_motor_0,0,0,0,0,0,0,0,0
left_leg_motor_1,0.1,0.1,-0.15,-0.15,-0.25,-0.25,-0.25,-0.25
left_leg_motor_2,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25
left_leg_motor_3,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4
left_leg_motor_4,0.2,0.2,0.2,0.2,0.2,0.2,0.2,0.2
left_leg_motor_5,-0.1,-0.1,0.15,0.15,0.25,0.25,0.25,0.25
left_arm_motor_0,0,0,0,0,-1,-1,1,1
left_arm_motor_1,2,2,2,2,2,2,2,2
left_hip_yaw,0,0,0,0,0,0,0,0
left_hip_roll,0.1,0.1,-0.15,-0.15,-0.25,-0.25,-0.25,-0.25
left_hip_pitch,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25
left_knee,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4
left_ankle_pitch,0.2,0.2,0.2,0.2,0.2,0.2,0.2,0.2
left_ankle_roll,-0.1,-0.1,0.15,0.15,0.25,0.25,0.25,0.25
left_shoulder_pitch,0,0,0,0,-1,-1,1,1
left_elbow,2,2,2,2,2,2,2,2
right_hip_yaw,0,0,0,0,0,0,0,0
right_hip_roll,0.1,0.1,0.2,0.2,0.4,0.4,0.4,0.4
right_hip_pitch,0.25,0.25,0.25,0.25,0.3,0.3,1.5,1
right_knee,-0.4,-0.4,-0.4,-0.4,-1,-1,-1,-1
right_ankle_pitch,0.2,0.2,0.2,0.2,0.5,0.5,0,0
right_ankle_roll,-0.1,-0.1,-0.1,-0.1,-0.2,-0.2,-0.2,-0.2
right_arm_motor_0,0,0,0,0,1,1,-1,-1
right_arm_motor_1,2,2,2,2,2,2,2,2
right_shoulder_pitch,0,0,0,0,1,1,-1,-1
right_elbow,2,2,2,2,2,2,2,2
comment,stance,x,lean to the side,x,lift leg up,x,kick,step to balance
20 changes: 10 additions & 10 deletions soccer_control/soccer_trajectories/trajectories/bez1/rightkick_2.csv
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Original file line number Diff line number Diff line change
@@ -1,18 +1,18 @@
time,0.69,0.7,0.75,1,1.2,1.4,1.41,1.7,2
left_leg_motor_0,0,0,0,0,0,0,0,0,0
left_leg_motor_1,0.1,0.1,-0.15,-0.15,-0.25,-0.25,-0.25,-0.25,0.1
left_leg_motor_2,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25
left_leg_motor_3,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4
left_leg_motor_4,0.2,0.2,0.2,0.2,0.2,0.2,0.2,0.2,0.2
left_leg_motor_5,-0.1,-0.1,0.15,0.15,0.25,0.25,0.25,0.25,-0.1
left_arm_motor_0,0,0,0,0,-1,-1,1,1,0
left_arm_motor_1,2,2,2,2,2,2,2,2,2
left_hip_yaw,0,0,0,0,0,0,0,0,0
left_hip_roll,0.1,0.1,-0.15,-0.15,-0.25,-0.25,-0.25,-0.25,0.1
left_hip_pitch,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25
left_knee,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4
left_ankle_pitch,0.2,0.2,0.2,0.2,0.2,0.2,0.2,0.2,0.2
left_ankle_roll,-0.1,-0.1,0.15,0.15,0.25,0.25,0.25,0.25,-0.1
left_shoulder_pitch,0,0,0,0,-1,-1,1,1,0
left_elbow,2,2,2,2,2,2,2,2,2
right_hip_yaw,0,0,0,0,0,0,0,0,0
right_hip_roll,0.1,0.1,0.2,0.2,0.4,0.4,0.4,0.4,0.1
right_hip_pitch,0.25,0.25,0.25,0.25,0.3,0.3,1.5,1,0.25
right_knee,-0.4,-0.4,-0.4,-0.4,-1,-1,-1,-1,-0.4
right_ankle_pitch,0.2,0.2,0.2,0.2,0.5,0.5,0,0,0.2
right_ankle_roll,-0.1,-0.1,-0.1,-0.1,-0.2,-0.2,-0.2,-0.2,-0.1
right_arm_motor_0,0,0,0,0,1,1,-1,-1,0
right_arm_motor_1,2,2,2,2,2,2,2,2,2
right_shoulder_pitch,0,0,0,0,1,1,-1,-1,0
right_elbow,2,2,2,2,2,2,2,2,2
comment,stance,x,lean to the side,x,lift leg up,x,kick,step to balance,stance
20 changes: 10 additions & 10 deletions soccer_control/soccer_trajectories/trajectories/bez1/rightkick_old.csv
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Original file line number Diff line number Diff line change
@@ -1,18 +1,18 @@
time,2,5,9,7,7.3,8
left_leg_motor_0,0,0,0,0,0,0
left_leg_motor_1,-0.05,-0.3,-0.5,-0.2,-0.2,-0.2
left_leg_motor_2,0.25,0.25,0.25,0.25,0.25,0.25
left_leg_motor_3,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4
left_leg_motor_4,0.2,0.2,0.2,0.2,0.2,0.2
left_leg_motor_5,0.05,0.2,0.4,0.2,0.2,0.2
left_hip_yaw,0,0,0,0,0,0
left_hip_roll,-0.05,-0.3,-0.5,-0.2,-0.2,-0.2
left_hip_pitch,0.25,0.25,0.25,0.25,0.25,0.25
left_knee,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4
left_ankle_pitch,0.2,0.2,0.2,0.2,0.2,0.2
left_ankle_roll,0.05,0.2,0.4,0.2,0.2,0.2
right_hip_yaw,0,0,0,0,0,0
right_hip_roll,-0.05,-0.3,-1.5,-0.3,-0.3,-0.3
right_hip_pitch,0.25,0.4,0.7,-0.3,1.5,0.6
right_knee,-0.4,-0.5,-1.4,-2,-0.5,-1.4
right_ankle_pitch,0.2,0.3,0.7,0.9,0.5,0.8
right_ankle_roll,0.05,0.3,0.3,0.2,0.2,0.2
right_arm_motor_0,0,0,0,0,0,0
right_arm_motor_1,2,2,2,2,2,2
left_arm_motor_0,0,0,0,0,0,0
left_arm_motor_1,2,2,2,2,2,2
right_shoulder_pitch,0,0,0,0,0,0
right_elbow,2,2,2,2,2,2
left_shoulder_pitch,0,0,0,0,0,0
left_elbow,2,2,2,2,2,2
comment,initial pose,lean,Lean more and lift leg,wind back,kick,stand position
20 changes: 10 additions & 10 deletions soccer_control/soccer_trajectories/trajectories/bez1/sidekick.csv
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Original file line number Diff line number Diff line change
@@ -1,18 +1,18 @@
time,0.5,5.5,5.7,10
left_leg_motor_0,0,0,0,0
left_leg_motor_1,0.1,0.1,0.2,0.2
left_leg_motor_2,0.25,0.25,0.25,0.25
left_leg_motor_3,-0.4,-0.4,-0.4,-0.4
left_leg_motor_4,0.2,0.2,0.2,0.2
left_leg_motor_5,-0.1,-0.1,-0.2,-0.2
left_arm_motor_0,0,0,0,0
left_arm_motor_1,2,2,2,2
left_hip_yaw,0,0,0,0
left_hip_roll,0.1,0.1,0.2,0.2
left_hip_pitch,0.25,0.25,0.25,0.25
left_knee,-0.4,-0.4,-0.4,-0.4
left_ankle_pitch,0.2,0.2,0.2,0.2
left_ankle_roll,-0.1,-0.1,-0.2,-0.2
left_shoulder_pitch,0,0,0,0
left_elbow,2,2,2,2
right_hip_yaw,0,0,0,0
right_hip_roll,0.1,0.1,0.5,0.5
right_hip_pitch,0.25,0.25,0.25,0.25
right_knee,-0.4,-0.4,-0.4,-0.4
right_ankle_pitch,0.2,0.2,0.2,0.2
right_ankle_roll,-0.1,-0.1,-0.1,-0.1
right_arm_motor_0,0,0,0,0
right_arm_motor_1,2,2,2,2
right_shoulder_pitch,0,0,0,0
right_elbow,2,2,2,2
comment,stance,x,kick,
14 changes: 7 additions & 7 deletions soccer_control/soccer_trajectories/trajectories/bez1_sim/getupback.csv
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Original file line number Diff line number Diff line change
@@ -1,19 +1,19 @@
time,0,0.75,1.2,1.4,1.6,2,2.75,3.5,4.25,5,5.75,6.5,7.25,8,8.75
right_hip_yaw,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
left_leg_motor_0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
left_hip_yaw,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
right_hip_roll,0,0,0,0,0,0.2,0.2,0,0,0,0,0,0,0,0
left_leg_motor_1,0,0,0,0,0,0.2,0.2,0,0,0,0,0,0,0,0
left_hip_roll,0,0,0,0,0,0.2,0.2,0,0,0,0,0,0,0,0
right_hip_pitch,0,0,0,0,0,0,0,0,1,1.5,1.8,1.8,1.8,1.7,0.564
left_leg_motor_2,0,0,0,0,0,0,0,0,1,1.5,1.8,1.8,1.8,1.7,0.564
right_knee,0,0,-2.5,-2.5,0,0,0,0,-1,-1.3,-1.8,-2.2,-2.6,-2.6, -1.176
left_leg_motor_3,0,0,-2.5,-2.5,0,0,0,0,-1,-1.3,-1.8,-2.2,-2.6,-2.6, -1.176
right_ankle_pitch,0,0,-0.77,-0.77,-0.77,-0.77,0,1.1,1.3,1.3,1.3,1.3,1.2,1.2,0.613
left_leg_motor_4,0,0,-0.77,-0.77,-0.77,-0.77,0,1.1,1.3,1.3,1.3,1.3,1.2,1.2,0.613
right_ankle_roll,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
left_leg_motor_5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
right_arm_motor_0,0,0,0,0,-1.57,-1.57,0,1.5,1.5,2,1.3,1.8,1.0,0.9,0
left_arm_motor_0,0,-1.57,-1.57,-1.57,-1.57,-1.57,0,1.5,1.5,2,1.3,1.8,1.0,0.9,0
right_arm_motor_1,0,0,0,0,0,0,3.14,3.14,2,2,1.3,0,0,0,0
left_arm_motor_1,0,1.57,1.57,0,0,0,3.14,3.14,2,2,1.3,0,0,0,0
left_ankle_roll,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
right_shoulder_pitch,0,0,0,0,-1.57,-1.57,0,1.5,1.5,2,1.3,1.8,1.0,0.9,0
left_shoulder_pitch,0,-1.57,-1.57,-1.57,-1.57,-1.57,0,1.5,1.5,2,1.3,1.8,1.0,0.9,0
right_elbow,0,0,0,0,0,0,3.14,3.14,2,2,1.3,0,0,0,0
left_elbow,0,1.57,1.57,0,0,0,3.14,3.14,2,2,1.3,0,0,0,0
head_motor_0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
head_motor_1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
14 changes: 7 additions & 7 deletions soccer_control/soccer_trajectories/trajectories/bez1_sim/getupback_real.csv
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Original file line number Diff line number Diff line change
@@ -1,19 +1,19 @@
time,0,0.75,1.2,1.4,1.6,2,2.75,3.5,4.25,5,5.75,6.5,7.25,8,8.75,9.25,10.25,11,11.75
right_hip_yaw,0.0,1.57,1.57,1.57,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
left_leg_motor_0,0.0,-1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
left_hip_yaw,0.0,-1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
right_hip_roll,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.2,0.2,0.0,0.0,0.0,0,0,0,0
left_leg_motor_1,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.2,0.2,0.0,0.0,0.0,0,0,0,0
left_hip_roll,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.2,0.2,0.0,0.0,0.0,0,0,0,0
right_hip_pitch,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,1.0,1.5,1.8,1.8,1.8,1.7
left_leg_motor_2,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,1.0,1.5,1.8,1.8,1.8,1.7
right_knee,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,-1.0,-1.3,-1.8,-2.2,-2.6,-2.6
left_leg_motor_3,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,-1.0,-1.3,-1.8,-2.2,-2.6,-2.6
right_ankle_pitch,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,-0.77,-0.77,0.0,1.1,1.3,1.3,1.3,1.3,1.2,1.2
left_leg_motor_4,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,-0.77,-0.77,0.0,1.1,1.3,1.3,1.3,1.3,1.2,1.2
right_ankle_roll,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
left_leg_motor_5,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
right_arm_motor_0,3.9,3.9,3.9,1.57,1.57,1.57,1.57,3.9,3.9,3.9,3.9,0.0,1.5,1.5,2.0,1.3,1.8,1.0,0.9
left_arm_motor_0,3.9,3.9,3.9,1.57,1.57,1.57,1.57,3.9,3.9,3.9,3.9,0.0,1.5,1.5,2.0,1.3,1.8,1.0,0.9
right_arm_motor_1,0,0,0,0,0,0,0.0,0.0,0.0,0.0,0.0,3.14,3.14,2.0,2.0,1.3,0,0,0
left_arm_motor_1,0,0,0,0,0,0,0.0,0.0,0.0,0.0,0.0,3.14,3.14,2.0,2.0,1.3,0,0,0
left_ankle_roll,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
right_shoulder_pitch,3.9,3.9,3.9,1.57,1.57,1.57,1.57,3.9,3.9,3.9,3.9,0.0,1.5,1.5,2.0,1.3,1.8,1.0,0.9
left_shoulder_pitch,3.9,3.9,3.9,1.57,1.57,1.57,1.57,3.9,3.9,3.9,3.9,0.0,1.5,1.5,2.0,1.3,1.8,1.0,0.9
right_elbow,0,0,0,0,0,0,0.0,0.0,0.0,0.0,0.0,3.14,3.14,2.0,2.0,1.3,0,0,0
left_elbow,0,0,0,0,0,0,0.0,0.0,0.0,0.0,0.0,3.14,3.14,2.0,2.0,1.3,0,0,0
head_motor_0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
head_motor_1,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
14 changes: 7 additions & 7 deletions soccer_control/soccer_trajectories/trajectories/bez1_sim/getupfront.csv
View file
Original file line number Diff line number Diff line change
@@ -1,19 +1,19 @@
time,0,0.75,1.5,2.25,3,3.75,4.5,5.25,6,6.75
right_hip_yaw,0,0,0,0,0,0,0,0,0,0
left_leg_motor_0,0,0,0,0,0,0,0,0,0,0
left_hip_yaw,0,0,0,0,0,0,0,0,0,0
right_hip_roll,0,0,0,0,0,0,0,0,0,0
left_leg_motor_1,0,0,0,0,0,0,0,0,0,0
left_hip_roll,0,0,0,0,0,0,0,0,0,0
right_hip_pitch,0,0,0,1,1.5,1.8,1.8,1.8,1.7,0.564
left_leg_motor_2,0,0,0,1,1.5,1.8,1.8,1.8,1.7,0.564
right_knee,0,0,0,-1,-1.3,-1.8,-2.2,-2.6,-2.6, -1.176
left_leg_motor_3,0,0,0,-1,-1.3,-1.8,-2.2,-2.6,-2.6, -1.176
right_ankle_pitch,0,0,1.1,1.3,1.3,1.3,1.3,1.2,1.2,0.613
left_leg_motor_4,0,0,1.1,1.3,1.3,1.3,1.3,1.2,1.2,0.613
right_ankle_roll,0,0,0,0,0,0,0,0,0,0
left_leg_motor_5,0,0,0,0,0,0,0,0,0,0
right_arm_motor_0,0,0,1.5,1.5,2,1.3,1.8,1.0,0.9,0
left_arm_motor_0,0,0,1.5,1.5,2,1.3,1.8,1.0,0.9,0
right_arm_motor_1,0,3.14,3.14,2,2,1.3,0,0,0,0
left_arm_motor_1,0,3.14,3.14,2,2,1.3,0,0,0,0
left_ankle_roll,0,0,0,0,0,0,0,0,0,0
right_shoulder_pitch,0,0,1.5,1.5,2,1.3,1.8,1.0,0.9,0
left_shoulder_pitch,0,0,1.5,1.5,2,1.3,1.8,1.0,0.9,0
right_elbow,0,3.14,3.14,2,2,1.3,0,0,0,0
left_elbow,0,3.14,3.14,2,2,1.3,0,0,0,0
head_motor_0,0,0,0,0,0,0,0,0,0,0
head_motor_1,0,0,0,0,0,0,0,0,0,0
14 changes: 7 additions & 7 deletions soccer_control/soccer_trajectories/trajectories/bez1_sim/getupside.csv
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Original file line number Diff line number Diff line change
@@ -1,19 +1,19 @@
time,0,0.5
right_hip_yaw,0,0
left_leg_motor_0,0,0
left_hip_yaw,0,0
right_hip_roll,0,0
left_leg_motor_1,0,0
left_hip_roll,0,0
right_hip_pitch,0,0
left_leg_motor_2,0,0
right_knee,0,0
left_leg_motor_3,0,0
right_ankle_pitch,0,0
left_leg_motor_4,0,0
right_ankle_roll,0,0
left_leg_motor_5,0,0
right_arm_motor_0,0,-1.5708
left_arm_motor_0,0,-1.5708
right_arm_motor_1,0,0
left_arm_motor_1,0,0
left_ankle_roll,0,0
right_shoulder_pitch,0,-1.5708
left_shoulder_pitch,0,-1.5708
right_elbow,0,0
left_elbow,0,0
head_motor_0,0,0
head_motor_1,0,0
14 changes: 7 additions & 7 deletions soccer_control/soccer_trajectories/trajectories/bez1_sim/goalieleft.csv
View file
Original file line number Diff line number Diff line change
@@ -1,19 +1,19 @@
time,0,0.5,5
right_hip_yaw,0,0,0
left_leg_motor_0,0,0,0
left_hip_yaw,0,0,0
right_hip_roll,0,0,0
left_leg_motor_1,0,0,0
left_hip_roll,0,0,0
right_hip_pitch,0.564,0.564,0.564
left_leg_motor_2,0.564,0.564,0.564
right_knee,-1.176,-1.176,-1.176
left_leg_motor_3,-1.176,-2.5,-1.176
right_ankle_pitch,0.613,0.613,0.613
left_leg_motor_4,0.613,1.2,0.613
right_ankle_roll,0,0,0
left_leg_motor_5,0,0,0
right_arm_motor_0,3.14,3.14,3.14
left_arm_motor_0,3.14,3.14,3.14
right_arm_motor_1,0,0,0
left_arm_motor_1,0,0,0
left_ankle_roll,0,0,0
right_shoulder_pitch,3.14,3.14,3.14
left_shoulder_pitch,3.14,3.14,3.14
right_elbow,0,0,0
left_elbow,0,0,0
head_motor_0,0,0,0
head_motor_1,0,0,0
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