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

This reverts commit 047d3d60c4.
2026-04-18 18:42:53 +08:00
parent 047d3d60c4
commit 4decbe1938
8 changed files with 14 additions and 1081 deletions
--- a/behaviors/custom/keyframe/kick/kick.py
+++ b/behaviors/custom/keyframe/kick/kick.py
@@ -1,91 +0,0 @@
-import os
-from numbers import Real
-
-from behaviors.behavior import Behavior
-from behaviors.custom.keyframe.keyframe import KeyframeSkill
-
-
-class Kick(Behavior):
-    SHORT_MAX_DISTANCE: float = 1.8
-    MID_MAX_DISTANCE: float = 4.5
-    TEN_METER_MIN_DISTANCE: float = 8.0
-    DEFAULT_DISTANCE: float = 3.0
-
-    def __init__(self, agent):
-        super().__init__(agent)
-
-        base_dir = os.path.dirname(__file__)
-        self.short_kick = KeyframeSkill(
-            agent=agent,
-            file=os.path.join(base_dir, "kick_short.yaml"),
-        )
-        self.mid_kick = KeyframeSkill(
-            agent=agent,
-            file=os.path.join(base_dir, "kick_mid.yaml"),
-        )
-        self.long_kick = KeyframeSkill(
-            agent=agent,
-            file=os.path.join(base_dir, "kick_long.yaml"),
-        )
-        self.ten_meter_kick = KeyframeSkill(
-            agent=agent,
-            file=os.path.join(base_dir, "kick_10m.yaml"),
-        )
-
-        self.current_kick: KeyframeSkill | None = None
-        self.should_reset_kick: bool = True
-        self.should_execute_neutral: bool = True
-
-    def execute(self, reset: bool, *args, **kwargs) -> bool:
-        if reset:
-            kick_distance = self._extract_kick_distance(*args, **kwargs)
-            self.current_kick = self._choose_kick_from_distance(kick_distance)
-            self.should_reset_kick = True
-            self.should_execute_neutral = True
-
-        if self.current_kick is None:
-            self.current_kick = self.mid_kick
-
-        if self.should_execute_neutral:
-            neutral_finished = self.agent.skills_manager.execute(
-                "Neutral",
-            )
-            self.should_reset_kick = False
-            if not neutral_finished:
-                return False
-            self.should_execute_neutral = False
-            self.should_reset_kick = True
-
-        has_finished = self.current_kick.execute(reset=self.should_reset_kick)
-        self.should_reset_kick = False
-        return has_finished
-
-    def _extract_kick_distance(self, *args, **kwargs) -> float:
-        distance_candidates = (
-            kwargs.get("distance"),
-            kwargs.get("kick_distance"),
-            kwargs.get("target_distance"),
-            kwargs.get("ball_to_target_distance"),
-            args[0] if args else None,
-        )
-
-        for candidate in distance_candidates:
-            if isinstance(candidate, Real):
-                return float(max(0.0, candidate))
-
-        return self.DEFAULT_DISTANCE
-
-    def _choose_kick_from_distance(self, distance: float) -> KeyframeSkill:
-        if distance <= self.SHORT_MAX_DISTANCE:
-            return self.short_kick
-
-        if distance <= self.MID_MAX_DISTANCE:
-            return self.mid_kick
-
-        if distance >= self.TEN_METER_MIN_DISTANCE:
-            return self.ten_meter_kick
-
-        return self.long_kick
-
-    def is_ready(self, *args) -> bool:
-        return True
--- a/behaviors/custom/keyframe/kick/kick_10m.yaml
+++ b/behaviors/custom/keyframe/kick/kick_10m.yaml
@@ -1,187 +0,0 @@
-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
--- a/behaviors/custom/keyframe/kick/kick_long.yaml
+++ b/behaviors/custom/keyframe/kick/kick_long.yaml
@@ -1,213 +0,0 @@
-symmetry: false
-kp: 160
-kd: 1.3
-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: -18.000
-      Left_Hip_Roll: 8.000
-      Left_Hip_Yaw: 0.000
-      Left_Knee_Pitch: 38.000
-      Left_Ankle_Pitch: 12.000
-      Left_Ankle_Roll: 3.000
-      Right_Hip_Pitch: 24.000
-      Right_Hip_Roll: -10.000
-      Right_Hip_Yaw: 0.000
-      Right_Knee_Pitch: -38.000
-      Right_Ankle_Pitch: 10.000
-      Right_Ankle_Roll: -5.000
-
-  - delta: 0.20
-    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: -30.000
-      Left_Hip_Roll: 10.000
-      Left_Hip_Yaw: 2.000
-      Left_Knee_Pitch: 24.000
-      Left_Ankle_Pitch: 10.000
-      Left_Ankle_Roll: 4.500
-      Right_Hip_Pitch: 26.000
-      Right_Hip_Roll: -10.000
-      Right_Hip_Yaw: -3.000
-      Right_Knee_Pitch: -40.000
-      Right_Ankle_Pitch: 10.000
-      Right_Ankle_Roll: -6.000
-
-  - delta: 0.21
-    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: -48.000
-      Left_Hip_Roll: 12.000
-      Left_Hip_Yaw: 3.000
-      Left_Knee_Pitch: 4.000
-      Left_Ankle_Pitch: 4.000
-      Left_Ankle_Roll: 5.000
-      Right_Hip_Pitch: 24.000
-      Right_Hip_Roll: -10.000
-      Right_Hip_Yaw: -4.000
-      Right_Knee_Pitch: -36.000
-      Right_Ankle_Pitch: 8.000
-      Right_Ankle_Roll: -7.000
-
-  - delta: 0.12
-    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: -56.000
-      Left_Hip_Roll: 13.000
-      Left_Hip_Yaw: 4.000
-      Left_Knee_Pitch: -4.000
-      Left_Ankle_Pitch: 2.000
-      Left_Ankle_Roll: 5.000
-      Right_Hip_Pitch: 22.000
-      Right_Hip_Roll: -9.000
-      Right_Hip_Yaw: -1.500
-      Right_Knee_Pitch: -28.000
-      Right_Ankle_Pitch: 6.000
-      Right_Ankle_Roll: -6.000
-
-  - delta: 0.12
-    motor_positions:
-      Head_yaw: 0.000
-      Head_pitch: 0.000
-      Left_Shoulder_Pitch: 76.000
-      Left_Shoulder_Roll: -88.000
-      Left_Elbow_Pitch: -78.000
-      Left_Elbow_Yaw: 0.000
-      Right_Shoulder_Pitch: 72.000
-      Right_Shoulder_Roll: 42.000
-      Right_Elbow_Pitch: -62.000
-      Right_Elbow_Yaw: 0.000
-      Waist: 0.000
-      Left_Hip_Pitch: -60.000
-      Left_Hip_Roll: 14.000
-      Left_Hip_Yaw: 5.000
-      Left_Knee_Pitch: -8.000
-      Left_Ankle_Pitch: 0.000
-      Left_Ankle_Roll: 5.000
-      Right_Hip_Pitch: 20.000
-      Right_Hip_Roll: -8.000
-      Right_Hip_Yaw: -2.000
-      Right_Knee_Pitch: -24.000
-      Right_Ankle_Pitch: 4.000
-      Right_Ankle_Roll: -5.000
-    kp: 190
-
-  - delta: 0.21
-    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: -22.000
-      Left_Hip_Roll: 10.000
-      Left_Hip_Yaw: 3.000
-      Left_Knee_Pitch: 16.000
-      Left_Ankle_Pitch: 11.500
-      Left_Ankle_Roll: 4.500
-      Right_Hip_Pitch: 24.000
-      Right_Hip_Roll: -8.000
-      Right_Hip_Yaw: 0.000
-      Right_Knee_Pitch: -34.000
-      Right_Ankle_Pitch: 8.000
-      Right_Ankle_Roll: -4.000
-
-  - delta: 0.21
-    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: 12.000
-      Left_Ankle_Pitch: 10.000
-      Left_Ankle_Roll: 3.000
-      Right_Hip_Pitch: 24.000
-      Right_Hip_Roll: -8.000
-      Right_Hip_Yaw: 0.000
-      Right_Knee_Pitch: -34.000
-      Right_Ankle_Pitch: 8.000
-      Right_Ankle_Roll: -4.000
-
-  - delta: 0.31
-    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: 20.000
-      Right_Hip_Roll: -6.000
-      Right_Hip_Yaw: 0.000
-      Right_Knee_Pitch: -26.000
-      Right_Ankle_Pitch: 6.000
-      Right_Ankle_Roll: 0.000
-    kp: 120
--- a/behaviors/custom/keyframe/kick/kick_mid.yaml
+++ b/behaviors/custom/keyframe/kick/kick_mid.yaml
@@ -1,213 +0,0 @@
-symmetry: false
-kp: 150
-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: -72.000
-      Right_Elbow_Yaw: 0.000
-      Waist: 0.000
-      Left_Hip_Pitch: -16.000
-      Left_Hip_Roll: 8.000
-      Left_Hip_Yaw: 0.000
-      Left_Knee_Pitch: 36.000
-      Left_Ankle_Pitch: 12.000
-      Left_Ankle_Roll: 4.000
-      Right_Hip_Pitch: 24.000
-      Right_Hip_Roll: -10.000
-      Right_Hip_Yaw: 0.000
-      Right_Knee_Pitch: -36.000
-      Right_Ankle_Pitch: 9.000
-      Right_Ankle_Roll: -5.000
-
-  - delta: 0.17
-    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: -28.000
-      Left_Hip_Roll: 10.000
-      Left_Hip_Yaw: 1.500
-      Left_Knee_Pitch: 24.000
-      Left_Ankle_Pitch: 10.000
-      Left_Ankle_Roll: 4.500
-      Right_Hip_Pitch: 26.000
-      Right_Hip_Roll: -10.000
-      Right_Hip_Yaw: -2.000
-      Right_Knee_Pitch: -38.000
-      Right_Ankle_Pitch: 10.000
-      Right_Ankle_Roll: -6.000
-
-  - 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: -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: -44.000
-      Left_Hip_Roll: 12.000
-      Left_Hip_Yaw: 3.000
-      Left_Knee_Pitch: 6.000
-      Left_Ankle_Pitch: 5.000
-      Left_Ankle_Roll: 5.000
-      Right_Hip_Pitch: 24.000
-      Right_Hip_Roll: -10.000
-      Right_Hip_Yaw: -4.000
-      Right_Knee_Pitch: -36.000
-      Right_Ankle_Pitch: 8.000
-      Right_Ankle_Roll: -7.000
-
-  - delta: 0.12
-    motor_positions:
-      Head_yaw: 0.000
-      Head_pitch: 0.000
-      Left_Shoulder_Pitch: 74.000
-      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: -52.000
-      Left_Hip_Roll: 13.000
-      Left_Hip_Yaw: 3.500
-      Left_Knee_Pitch: -2.000
-      Left_Ankle_Pitch: 2.000
-      Left_Ankle_Roll: 5.000
-      Right_Hip_Pitch: 24.000
-      Right_Hip_Roll: -9.000
-      Right_Hip_Yaw: -1.000
-      Right_Knee_Pitch: -30.000
-      Right_Ankle_Pitch: 6.000
-      Right_Ankle_Roll: -5.000
-
-  - delta: 0.12
-    motor_positions:
-      Head_yaw: 0.000
-      Head_pitch: 0.000
-      Left_Shoulder_Pitch: 76.000
-      Left_Shoulder_Roll: -86.000
-      Left_Elbow_Pitch: -78.000
-      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: -58.000
-      Left_Hip_Roll: 14.000
-      Left_Hip_Yaw: 4.000
-      Left_Knee_Pitch: -6.000
-      Left_Ankle_Pitch: 0.000
-      Left_Ankle_Roll: 5.000
-      Right_Hip_Pitch: 22.000
-      Right_Hip_Roll: -9.000
-      Right_Hip_Yaw: -1.000
-      Right_Knee_Pitch: -26.000
-      Right_Ankle_Pitch: 4.000
-      Right_Ankle_Roll: -6.000
-    kp: 180
-
-  - 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: -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: -20.000
-      Left_Hip_Roll: 10.500
-      Left_Hip_Yaw: 2.000
-      Left_Knee_Pitch: 20.000
-      Left_Ankle_Pitch: 11.000
-      Left_Ankle_Roll: 4.500
-      Right_Hip_Pitch: 24.000
-      Right_Hip_Roll: -8.000
-      Right_Hip_Yaw: 0.000
-      Right_Knee_Pitch: -34.000
-      Right_Ankle_Pitch: 8.000
-      Right_Ankle_Roll: -4.000
-
-  - delta: 0.18
-    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: -16.000
-      Left_Hip_Roll: 10.000
-      Left_Hip_Yaw: 1.000
-      Left_Knee_Pitch: 14.000
-      Left_Ankle_Pitch: 10.000
-      Left_Ankle_Roll: 3.000
-      Right_Hip_Pitch: 24.000
-      Right_Hip_Roll: -8.000
-      Right_Hip_Yaw: 0.000
-      Right_Knee_Pitch: -34.000
-      Right_Ankle_Pitch: 8.000
-      Right_Ankle_Roll: -4.000
-
-  - delta: 0.26
-    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: 20.000
-      Right_Hip_Roll: -6.000
-      Right_Hip_Yaw: 0.000
-      Right_Knee_Pitch: -26.000
-      Right_Ankle_Pitch: 6.000
-      Right_Ankle_Roll: 0.000
-    kp: 120
--- a/behaviors/custom/keyframe/kick/kick_short.yaml
+++ b/behaviors/custom/keyframe/kick/kick_short.yaml
@@ -1,213 +0,0 @@
-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