add keyframe kick behavior, but still need to be improved

2026-04-18 18:42:06 +08:00
parent 9e77e4d6e0
commit 2568fc1a9a
8 changed files with 1081 additions and 14 deletions
--- a/behaviors/custom/keyframe/kick/kick_10m.yaml
+++ b/behaviors/custom/keyframe/kick/kick_10m.yaml
@@ -0,0 +1,187 @@
+symmetry: false
+kp: 175
+kd: 1.4
+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: -72.000
+      Right_Elbow_Yaw: 0.000
+      Waist: 0.000
+      Left_Hip_Pitch: -26.000
+      Left_Hip_Roll: 8.000
+      Left_Hip_Yaw: 0.000
+      Left_Knee_Pitch: 62.000
+      Left_Ankle_Pitch: 12.000
+      Left_Ankle_Roll: 3.000
+      Right_Hip_Pitch: 14.000
+      Right_Hip_Roll: -10.000
+      Right_Hip_Yaw: 0.000
+      Right_Knee_Pitch: -10.000
+      Right_Ankle_Pitch: 6.000
+      Right_Ankle_Roll: -5.000
+
+  - delta: 0.23
+    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: -72.000
+      Right_Elbow_Yaw: 0.000
+      Waist: 0.000
+      Left_Hip_Pitch: -40.000
+      Left_Hip_Roll: 10.000
+      Left_Hip_Yaw: 2.500
+      Left_Knee_Pitch: 64.000
+      Left_Ankle_Pitch: 10.000
+      Left_Ankle_Roll: 4.500
+      Right_Hip_Pitch: 14.000
+      Right_Hip_Roll: -10.000
+      Right_Hip_Yaw: -3.000
+      Right_Knee_Pitch: -10.000
+      Right_Ankle_Pitch: 6.000
+      Right_Ankle_Roll: -6.000
+
+  - delta: 0.26
+    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: -56.000
+      Left_Hip_Roll: 12.000
+      Left_Hip_Yaw: 5.000
+      Left_Knee_Pitch: 34.000
+      Left_Ankle_Pitch: 6.000
+      Left_Ankle_Roll: 5.000
+      Right_Hip_Pitch: 14.000
+      Right_Hip_Roll: -10.000
+      Right_Hip_Yaw: -6.000
+      Right_Knee_Pitch: -8.000
+      Right_Ankle_Pitch: 5.000
+      Right_Ankle_Roll: -7.000
+
+  - delta: 0.10
+    motor_positions:
+      Head_yaw: 0.000
+      Head_pitch: 0.000
+      Left_Shoulder_Pitch: 74.000
+      Left_Shoulder_Roll: -86.000
+      Left_Elbow_Pitch: -76.000
+      Left_Elbow_Yaw: 0.000
+      Right_Shoulder_Pitch: 72.000
+      Right_Shoulder_Roll: 44.000
+      Right_Elbow_Pitch: -64.000
+      Right_Elbow_Yaw: 0.000
+      Waist: 0.000
+      Left_Hip_Pitch: -66.000
+      Left_Hip_Roll: 13.000
+      Left_Hip_Yaw: 5.500
+      Left_Knee_Pitch: -12.000
+      Left_Ankle_Pitch: 4.000
+      Left_Ankle_Roll: 5.000
+      Right_Hip_Pitch: 12.000
+      Right_Hip_Roll: -9.000
+      Right_Hip_Yaw: -2.500
+      Right_Knee_Pitch: -6.000
+      Right_Ankle_Pitch: 4.000
+      Right_Ankle_Roll: -6.000
+    kp: 210
+
+  - delta: 0.23
+    motor_positions:
+      Head_yaw: 0.000
+      Head_pitch: 0.000
+      Left_Shoulder_Pitch: 72.000
+      Left_Shoulder_Roll: -82.000
+      Left_Elbow_Pitch: -72.000
+      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: -24.000
+      Left_Hip_Roll: 10.000
+      Left_Hip_Yaw: 3.000
+      Left_Knee_Pitch: 46.000
+      Left_Ankle_Pitch: 12.500
+      Left_Ankle_Roll: 4.500
+      Right_Hip_Pitch: 14.000
+      Right_Hip_Roll: -8.000
+      Right_Hip_Yaw: 0.000
+      Right_Knee_Pitch: -10.000
+      Right_Ankle_Pitch: 6.000
+      Right_Ankle_Roll: -4.000
+
+  - delta: 0.23
+    motor_positions:
+      Head_yaw: 0.000
+      Head_pitch: 0.000
+      Left_Shoulder_Pitch: 70.000
+      Left_Shoulder_Roll: -80.000
+      Left_Elbow_Pitch: -68.000
+      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: -18.000
+      Left_Hip_Roll: 10.000
+      Left_Hip_Yaw: 1.000
+      Left_Knee_Pitch: 38.000
+      Left_Ankle_Pitch: 10.000
+      Left_Ankle_Roll: 3.000
+      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: -4.000
+
+  - delta: 0.34
+    motor_positions:
+      Head_yaw: 0.000
+      Head_pitch: 0.000
+      Left_Shoulder_Pitch: 64.000
+      Left_Shoulder_Roll: -72.000
+      Left_Elbow_Pitch: -58.000
+      Left_Elbow_Yaw: 0.000
+      Right_Shoulder_Pitch: 68.000
+      Right_Shoulder_Roll: 45.000
+      Right_Elbow_Pitch: -64.000
+      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