add kick behavior with keyframe, but still need to be improved

behaviors/custom/keyframe/kick/kick_short.yaml

@@ -0,0 +1,213 @@
+symmetry: false
+kp: 140
+kd: 1.2
+keyframes:
+  - delta: 0.00
+    motor_positions:
+      Head_yaw: 0.000
+      Head_pitch: 0.000
+      Left_Shoulder_Pitch: 68.000
+      Left_Shoulder_Roll: -76.000
+      Left_Elbow_Pitch: -62.000
+      Left_Elbow_Yaw: 0.000
+      Right_Shoulder_Pitch: 72.000
+      Right_Shoulder_Roll: 52.000
+      Right_Elbow_Pitch: -70.000
+      Right_Elbow_Yaw: 0.000
+      Waist: 0.000
+      Left_Hip_Pitch: -18.000
+      Left_Hip_Roll: 8.000
+      Left_Hip_Yaw: 0.000
+      Left_Knee_Pitch: 42.000
+      Left_Ankle_Pitch: 10.000
+      Left_Ankle_Roll: 3.000
+      Right_Hip_Pitch: 14.000
+      Right_Hip_Roll: -9.000
+      Right_Hip_Yaw: 0.000
+      Right_Knee_Pitch: -10.000
+      Right_Ankle_Pitch: 6.000
+      Right_Ankle_Roll: -5.000
+
+  - delta: 0.16
+    motor_positions:
+      Head_yaw: 0.000
+      Head_pitch: 0.000
+      Left_Shoulder_Pitch: 70.000
+      Left_Shoulder_Roll: -80.000
+      Left_Elbow_Pitch: -70.000
+      Left_Elbow_Yaw: 0.000
+      Right_Shoulder_Pitch: 72.000
+      Right_Shoulder_Roll: 50.000
+      Right_Elbow_Pitch: -70.000
+      Right_Elbow_Yaw: 0.000
+      Waist: 0.000
+      Left_Hip_Pitch: -30.000
+      Left_Hip_Roll: 10.000
+      Left_Hip_Yaw: 1.000
+      Left_Knee_Pitch: 54.000
+      Left_Ankle_Pitch: 10.000
+      Left_Ankle_Roll: 4.500
+      Right_Hip_Pitch: 14.000
+      Right_Hip_Roll: -9.000
+      Right_Hip_Yaw: -1.000
+      Right_Knee_Pitch: -10.000
+      Right_Ankle_Pitch: 6.000
+      Right_Ankle_Roll: -5.500
+
+  - delta: 0.17
+    motor_positions:
+      Head_yaw: 0.000
+      Head_pitch: 0.000
+      Left_Shoulder_Pitch: 72.000
+      Left_Shoulder_Roll: -82.000
+      Left_Elbow_Pitch: -74.000
+      Left_Elbow_Yaw: 0.000
+      Right_Shoulder_Pitch: 72.000
+      Right_Shoulder_Roll: 48.000
+      Right_Elbow_Pitch: -68.000
+      Right_Elbow_Yaw: 0.000
+      Waist: 0.000
+      Left_Hip_Pitch: -46.000
+      Left_Hip_Roll: 12.000
+      Left_Hip_Yaw: 2.000
+      Left_Knee_Pitch: 28.000
+      Left_Ankle_Pitch: 10.000
+      Left_Ankle_Roll: 5.000
+      Right_Hip_Pitch: 14.000
+      Right_Hip_Roll: -8.000
+      Right_Hip_Yaw: -2.000
+      Right_Knee_Pitch: -8.000
+      Right_Ankle_Pitch: 5.000
+      Right_Ankle_Roll: -7.000
+
+  - delta: 0.16
+    motor_positions:
+      Head_yaw: 0.000
+      Head_pitch: 0.000
+      Left_Shoulder_Pitch: 73.500
+      Left_Shoulder_Roll: -84.000
+      Left_Elbow_Pitch: -76.000
+      Left_Elbow_Yaw: 0.000
+      Right_Shoulder_Pitch: 72.000
+      Right_Shoulder_Roll: 46.000
+      Right_Elbow_Pitch: -66.000
+      Right_Elbow_Yaw: 0.000
+      Waist: 0.000
+      Left_Hip_Pitch: -58.000
+      Left_Hip_Roll: 13.000
+      Left_Hip_Yaw: 3.000
+      Left_Knee_Pitch: -16.000
+      Left_Ankle_Pitch: 8.000
+      Left_Ankle_Roll: 5.000
+      Right_Hip_Pitch: 12.000
+      Right_Hip_Roll: -8.000
+      Right_Hip_Yaw: -1.000
+      Right_Knee_Pitch: -6.000
+      Right_Ankle_Pitch: 4.000
+      Right_Ankle_Roll: -5.000
+
+  - delta: 0.16
+    motor_positions:
+      Head_yaw: 0.000
+      Head_pitch: 0.000
+      Left_Shoulder_Pitch: 75.000
+      Left_Shoulder_Roll: -86.000
+      Left_Elbow_Pitch: -72.000
+      Left_Elbow_Yaw: 0.000
+      Right_Shoulder_Pitch: 70.000
+      Right_Shoulder_Roll: 44.000
+      Right_Elbow_Pitch: -64.000
+      Right_Elbow_Yaw: 0.000
+      Waist: 0.000
+      Left_Hip_Pitch: -62.000
+      Left_Hip_Roll: 13.000
+      Left_Hip_Yaw: 3.000
+      Left_Knee_Pitch: 10.000
+      Left_Ankle_Pitch: 6.000
+      Left_Ankle_Roll: 5.000
+      Right_Hip_Pitch: 12.000
+      Right_Hip_Roll: -8.000
+      Right_Hip_Yaw: 0.000
+      Right_Knee_Pitch: -6.000
+      Right_Ankle_Pitch: 4.000
+      Right_Ankle_Roll: -5.000
+    kp: 170
+
+  - delta: 0.18
+    motor_positions:
+      Head_yaw: 0.000
+      Head_pitch: 0.000
+      Left_Shoulder_Pitch: 73.500
+      Left_Shoulder_Roll: -82.000
+      Left_Elbow_Pitch: -69.000
+      Left_Elbow_Yaw: 0.000
+      Right_Shoulder_Pitch: 72.000
+      Right_Shoulder_Roll: 48.000
+      Right_Elbow_Pitch: -68.000
+      Right_Elbow_Yaw: 0.000
+      Waist: 0.000
+      Left_Hip_Pitch: -16.000
+      Left_Hip_Roll: 9.000
+      Left_Hip_Yaw: 1.000
+      Left_Knee_Pitch: 38.000
+      Left_Ankle_Pitch: 9.000
+      Left_Ankle_Roll: 3.000
+      Right_Hip_Pitch: 8.000
+      Right_Hip_Roll: -5.000
+      Right_Hip_Yaw: 0.000
+      Right_Knee_Pitch: -8.000
+      Right_Ankle_Pitch: 5.000
+      Right_Ankle_Roll: -3.000
+
+  - delta: 0.18
+    motor_positions:
+      Head_yaw: 0.000
+      Head_pitch: 0.000
+      Left_Shoulder_Pitch: 72.000
+      Left_Shoulder_Roll: -82.000
+      Left_Elbow_Pitch: -68.000
+      Left_Elbow_Yaw: 0.000
+      Right_Shoulder_Pitch: 68.000
+      Right_Shoulder_Roll: 48.000
+      Right_Elbow_Pitch: -62.000
+      Right_Elbow_Yaw: 0.000
+      Waist: 0.000
+      Left_Hip_Pitch: -10.000
+      Left_Hip_Roll: 9.000
+      Left_Hip_Yaw: 1.000
+      Left_Knee_Pitch: 34.000
+      Left_Ankle_Pitch: 9.000
+      Left_Ankle_Roll: 3.000
+      Right_Hip_Pitch: 8.000
+      Right_Hip_Roll: -5.000
+      Right_Hip_Yaw: 0.000
+      Right_Knee_Pitch: -6.000
+      Right_Ankle_Pitch: 4.000
+      Right_Ankle_Roll: -3.000
+
+  - delta: 0.24
+    motor_positions:
+      Head_yaw: 0.000
+      Head_pitch: 0.000
+      Left_Shoulder_Pitch: 65.000
+      Left_Shoulder_Roll: -75.000
+      Left_Elbow_Pitch: -60.000
+      Left_Elbow_Yaw: 0.000
+      Right_Shoulder_Pitch: 65.000
+      Right_Shoulder_Roll: 45.000
+      Right_Elbow_Pitch: -60.000
+      Right_Elbow_Yaw: 0.000
+      Waist: 0.000
+      Left_Hip_Pitch: 0.000
+      Left_Hip_Roll: 0.000
+      Left_Hip_Yaw: 0.000
+      Left_Knee_Pitch: 0.000
+      Left_Ankle_Pitch: 0.000
+      Left_Ankle_Roll: 0.000
+      Right_Hip_Pitch: 0.000
+      Right_Hip_Roll: 0.000
+      Right_Hip_Yaw: 0.000
+      Right_Knee_Pitch: 0.000
+      Right_Ankle_Pitch: 0.000
+      Right_Ankle_Roll: 0.000
+    kp: 120