can get up from back position.

.gitignore

@@ -15,7 +15,6 @@ dist/
 *.npz
 *.xml
 *.json
-*.yaml
 *.iml
 *.pyc
 .TXT

agent/agent.py

@@ -49,6 +49,9 @@ class Agent:
         }
     }
 
+    TEAMMATE_INFO_MAX_AGE: float = 0.8
+    SUPPORT_DISTANCE_FROM_BALL: float = 1.2
+
     def __init__(self, agent):
         """
         Creates a new DecisionMaker linked to the given agent.
@@ -60,6 +63,10 @@ class Agent:
 
         self.agent: Base_Agent = agent
         self.is_getting_up: bool = False
+        self.is_kicking: bool = False
+        self.current_shot_target_point: np.ndarray | None = None
+        self.target_point: np.ndarray = np.array([0.0, 0.0])
+        self.my_pos: np.ndarray = self.agent.world.global_position[:2]
 
     def update_current_behavior(self) -> None:
         """
@@ -85,11 +92,19 @@ class Agent:
             self.is_getting_up = not self.agent.skills_manager.execute(skill_name="GetUp")
 
         elif self.agent.world.playmode is PlayModeEnum.PLAY_ON:
-            self.carry_ball()
+            active_player_number = self.get_active_player_number()
+            if active_player_number == self.agent.world.number:
+                # self.carry_ball()
+                self.target_point = self.my_pos + np.array([4.0, 0.0])
+                self.kick_ball()
+            else:
+                # self.execute_support_behavior()
+                self.agent.skills_manager.execute("Neutral")
         elif self.agent.world.playmode in (PlayModeEnum.BEFORE_KICK_OFF, PlayModeEnum.THEIR_GOAL, PlayModeEnum.OUR_GOAL):
             self.agent.skills_manager.execute("Neutral")
         else:
-            self.carry_ball()
+            # self.execute_support_behavior()
+            self.agent.skills_manager.execute("Neutral")
 
         self.agent.robot.commit_motor_targets_pd()
 
@@ -97,18 +112,21 @@ class Agent:
         """
         Basic example of a behavior: moves the robot toward the goal while handling the ball.
         """
-        their_goal_pos = self.agent.world.field.get_their_goal_position()[:2]
+        target_point = self.target_point
         ball_pos = self.agent.world.ball_pos[:2]
         my_pos = self.agent.world.global_position[:2]
 
-        ball_to_goal = their_goal_pos - ball_pos
-        bg_norm = np.linalg.norm(ball_to_goal)
-        if bg_norm == 0:
+        if self.kick_ball(target_point=target_point):
             return
-        ball_to_goal_dir = ball_to_goal / bg_norm
+
+        ball_to_target = target_point - ball_pos
+        bt_norm = np.linalg.norm(ball_to_target)
+        if bt_norm == 0:
+            return
+        ball_to_target_dir = ball_to_target / bt_norm
 
         dist_from_ball_to_start_carrying = 0.30
-        carry_ball_pos = ball_pos - ball_to_goal_dir * dist_from_ball_to_start_carrying
+        carry_ball_pos = ball_pos - ball_to_target_dir * dist_from_ball_to_start_carrying
 
         my_to_ball = ball_pos - my_pos
         my_to_ball_norm = np.linalg.norm(my_to_ball)
@@ -117,15 +135,15 @@ class Agent:
         else:
             my_to_ball_dir = my_to_ball / my_to_ball_norm
 
-        cosang = np.dot(my_to_ball_dir, ball_to_goal_dir)
+        cosang = np.dot(my_to_ball_dir, ball_to_target_dir)
         cosang = np.clip(cosang, -1.0, 1.0)
         angle_diff = np.arccos(cosang)
 
         ANGLE_TOL = np.deg2rad(7.5)
         aligned = (my_to_ball_norm > 1e-6) and (angle_diff <= ANGLE_TOL)
 
-        behind_ball = np.dot(my_pos - ball_pos, ball_to_goal_dir) < 0
-        desired_orientation = MathOps.vector_angle(ball_to_goal)
+        behind_ball = np.dot(my_pos - ball_pos, ball_to_target_dir) < 0
+        desired_orientation = MathOps.vector_angle(ball_to_target)
 
         if not aligned or not behind_ball:
             self.agent.skills_manager.execute(
@@ -137,8 +155,140 @@ class Agent:
         else:
             self.agent.skills_manager.execute(
                 "Walk",
-                target_2d=their_goal_pos,
+                target_2d=target_point,
                 is_target_absolute=True,
                 orientation=desired_orientation
             )
 
+    def kick_ball(self, target_point=None):
+        if target_point is None:
+            target_point = self.target_point
+
+        target_point = np.asarray(target_point, dtype=float)[:2]
+        ball_pos = self.agent.world.ball_pos[:2]
+        my_pos = self.agent.world.global_position[:2]
+
+        ball_to_target = target_point - ball_pos
+        ball_to_target_dist = np.linalg.norm(ball_to_target)
+        if ball_to_target_dist <= 1e-6:
+            return False
+        if self.is_kicking:
+            if self.current_shot_target_point is None:
+                self.current_shot_target_point = target_point
+
+            active_target = self.current_shot_target_point
+            active_distance = np.linalg.norm(active_target - ball_pos)
+            self.is_kicking = not self.agent.skills_manager.execute(
+                "Kick", distance=active_distance
+            )
+            if not self.is_kicking:
+                self.current_shot_target_point = None
+            return True
+
+        my_to_ball = ball_pos - my_pos
+        my_to_ball_dist = np.linalg.norm(my_to_ball)
+
+        ball_to_target_dir = ball_to_target / ball_to_target_dist
+        behind_ball = np.dot(my_pos - ball_pos, ball_to_target_dir) < 0
+        me_to_ball_dir = ball_pos - my_pos
+        me_to_ball_dir_norm = np.linalg.norm(me_to_ball_dir)
+
+        desired_orientation = MathOps.vector_angle(me_to_ball_dir)
+        current_orientation = self.agent.robot.global_orientation_euler[2]
+        orientation_error = abs(
+            MathOps.normalize_deg(desired_orientation - current_orientation)
+        )
+
+        lateral_error_to_shot_line, _ = MathOps.distance_point_to_line(
+            p=my_pos,
+            a=ball_pos,
+            b=target_point,
+        )
+
+        close_to_ball = my_to_ball_dist <= 0.24
+        good_orientation = orientation_error <= 14.0
+        good_lateral_offset = lateral_error_to_shot_line <= 0.16
+        in_shooting_range = ball_to_target_dist <= 12.0
+
+        can_shoot = (
+            close_to_ball
+            and behind_ball
+            and good_orientation
+            and good_lateral_offset
+            and in_shooting_range
+        )
+
+        if not can_shoot:
+            prepare_offset = 0.06
+            prepare_pos = ball_pos - ball_to_target_dir * prepare_offset
+
+            self.agent.skills_manager.execute(
+                "Walk",
+                target_2d=prepare_pos,
+                is_target_absolute=True,
+                orientation=desired_orientation,
+            )
+            return True
+
+        self.current_shot_target_point = target_point
+        self.is_kicking = not self.agent.skills_manager.execute(
+            "Kick", distance=ball_to_target_dist
+        )
+        if not self.is_kicking:
+            self.current_shot_target_point = None
+        return True
+
+    def get_active_player_number(self) -> int:
+        world = self.agent.world
+        ball_pos = world.ball_pos[:2]
+        server_time = world.server_time
+
+        my_num = world.number
+        my_pos = world.global_position[:2]
+        best_player_number = my_num
+        best_distance = np.linalg.norm(my_pos - ball_pos)
+
+        for teammate_number, teammate in enumerate(world.our_team_players, start=1):
+            if teammate_number == my_num:
+                continue
+
+            if teammate.last_seen_time is None or server_time is None:
+                continue
+
+            info_age = server_time - teammate.last_seen_time
+            if info_age > self.TEAMMATE_INFO_MAX_AGE:
+                continue
+
+            teammate_pos = teammate.position[:2]
+            teammate_distance = np.linalg.norm(teammate_pos - ball_pos)
+
+            if teammate_distance + 1e-6 < best_distance:
+                best_distance = teammate_distance
+                best_player_number = teammate_number
+            elif abs(teammate_distance - best_distance) <= 1e-6:
+                best_player_number = min(best_player_number, teammate_number)
+
+        return best_player_number
+
+    def execute_support_behavior(self) -> None:
+        world = self.agent.world
+        my_pos = world.global_position[:2]
+        ball_pos = world.ball_pos[:2]
+        target_point = self.target_point
+
+        ball_to_target = target_point - ball_pos
+        bt_norm = np.linalg.norm(ball_to_target)
+        if bt_norm <= 1e-6:
+            ball_to_target_dir = np.array([1.0, 0.0])
+        else:
+            ball_to_target_dir = ball_to_target / bt_norm
+
+        support_pos = ball_pos - ball_to_target_dir * self.SUPPORT_DISTANCE_FROM_BALL
+        support_orientation = MathOps.vector_angle(ball_pos - my_pos)
+
+        self.agent.skills_manager.execute(
+            "Walk",
+            target_2d=support_pos,
+            is_target_absolute=True,
+            orientation=support_orientation,
+        )

behaviors/behavior_manager.py

@@ -1,4 +1,5 @@
 from behaviors.custom.keyframe.get_up.get_up import GetUp
+from behaviors.custom.keyframe.kick.kick import Kick
 from behaviors.custom.keyframe.keyframe import KeyframeSkill
 from behaviors.custom.keyframe.poses.neutral.neutral import Neutral
 from behaviors.behavior import Behavior
@@ -22,7 +23,7 @@ class BehaviorManager:
         Each skill is indexed by its class name.
         """
 
-        classes: list[type[Behavior]] = [Walk, Neutral, GetUp]
+        classes: list[type[Behavior]] = [Walk, Neutral, GetUp, Kick]
 
         # instantiate each Skill and store in the skills dictionary
         self.skills = {cls.__name__: cls(agent=self.agent) for cls in classes}

behaviors/custom/keyframe/get_up/get_up.py

@@ -9,7 +9,7 @@ logger = logging.getLogger()
 
 class GetUp(Behavior):
     STABILITY_THRESHOLD_CYCLES: int = 3
-    NEUTRAL_EXECUTION_TIME: float = 1.5
+    NEUTRAL_EXECUTION_TIME: float = 1.0
     def __init__(self, agent):
         super().__init__(agent)
         self.get_up_front = KeyframeSkill(

behaviors/custom/keyframe/get_up/get_up_back.yaml

@@ -2,6 +2,33 @@ symmetry: true
 kp: 75
 kd: 1
 keyframes:
+  - delta: 1
+    motor_positions:
+      Head_yaw: 0.000
+      Head_pitch: 0.000
+      Shoulder_Pitch: 0
+      Shoulder_Roll: 0
+      Elbow_Pitch: 0
+      Elbow_Yaw: 0
+      Waist: 0.000
+      Hip_Pitch: 0
+      Hip_Roll: 0
+      Hip_Yaw: 0
+      Knee_Pitch: 0
+      Ankle_Pitch: 0
+      Ankle_Roll: 0
+    kp: 20
+    kd: 1
+    p_gains:
+      Hip_Pitch: 20
+      Hip_Roll: 20
+      Hip_Yaw: 20
+      Knee_Pitch: 20
+    d_gains:
+      Hip_Pitch: 1
+      Hip_Roll: 1
+      Hip_Yaw: 1
+      Knee_Pitch: 1
 
   - delta: 1
     motor_positions:
@@ -9,15 +36,15 @@ keyframes:
       Head_pitch: 0.000
       Shoulder_Pitch: -114.592
       Shoulder_Roll: -71.619
-      Elbow_Pitch: -85.944
-      Elbow_Yaw: -171.887
+      Elbow_Pitch: -100.944
+      Elbow_Yaw: -171.000
       Waist: 0.000
-      Hip_Pitch: -45.836
-      Hip_Roll: 179.908
-      Hip_Yaw: 179.908
-      Knee_Pitch: -179.908
-      Ankle_Pitch: 89.954
-      Ankle_Roll: 89.954
+      Hip_Pitch: -35.000
+      Hip_Roll: 24.000
+      Hip_Yaw: 8.000
+      Knee_Pitch: -100.000
+      Ankle_Pitch: 70.000
+      Ankle_Roll: 10.000
     kp: 250
     kd: 1
     p_gains:
@@ -31,13 +58,91 @@ keyframes:
       Hip_Yaw: 1
       Knee_Pitch: 1
 
-  - delta: 0.8125
+  - delta: 0.45
+    motor_positions:
+      Head_yaw: 0.000
+      Head_pitch: 0.000
+      Shoulder_Pitch: -114.592
+      Shoulder_Roll: -80.000
+      Elbow_Pitch: -140.944
+      Elbow_Yaw: -171.000
+      Waist: 0.000
+      Hip_Pitch: -25.000
+      Hip_Roll: 20.000
+      Hip_Yaw: 8.000
+      Knee_Pitch: -120.000
+      Ankle_Pitch: 60.000
+      Ankle_Roll: 8.000
+    kp: 220
+    kd: 1.5
+    p_gains:
+      Hip_Pitch: 20
+      Hip_Roll: 20
+      Hip_Yaw: 20
+      Knee_Pitch: 20
+    d_gains:
+      Hip_Pitch: 1
+      Hip_Roll: 1
+      Hip_Yaw: 1
+      Knee_Pitch: 1
+
+  - delta: 0.35
+    motor_positions:
+      Head_yaw: 0.000
+      Head_pitch: 0.000
+      Shoulder_Pitch: -114.000
+      Shoulder_Roll: -86.000
+      Elbow_Pitch: -140.944
+      Elbow_Yaw: -171.000
+      Waist: 0.000
+      Hip_Pitch: -30.000
+      Hip_Roll: 160.000
+      Hip_Yaw: 160.000
+      Knee_Pitch: -150.000
+      Ankle_Pitch: 60.000
+      Ankle_Roll: 60.000
+    kp: 50
+    kd: 2
+    p_gains:
+      Hip_Pitch: 120
+      Hip_Roll: 120
+      Hip_Yaw: 120
+      Knee_Pitch: 180
+      Ankle_Pitch: 150
+      Ankle_Roll: 150
+
+  - delta: 0.35
     motor_positions:
       Head_yaw: 0.000
       Head_pitch: 0.000
       Shoulder_Pitch: -114.592
       Shoulder_Roll: -89.954
-      Elbow_Pitch: -85.944
+      Elbow_Pitch: -90.944
+      Elbow_Yaw: 0.000
+      Waist: 0.000
+      Hip_Pitch: -30.000
+      Hip_Roll: 160.000
+      Hip_Yaw: 160.000
+      Knee_Pitch: -150.000
+      Ankle_Pitch: 60.000
+      Ankle_Roll: 60.000
+    kp: 50
+    kd: 2
+    p_gains:
+      Hip_Pitch: 120
+      Hip_Roll: 120
+      Hip_Yaw: 120
+      Knee_Pitch: 180
+      Ankle_Pitch: 150
+      Ankle_Roll: 150
+  
+  - delta: 0.1
+    motor_positions:
+      Head_yaw: 0.000
+      Head_pitch: 0.000
+      Shoulder_Pitch: -114.592
+      Shoulder_Roll: -89.954
+      Elbow_Pitch: -140.944
       Elbow_Yaw: 0.000
       Waist: 0.000
       Hip_Pitch: -45.836
@@ -46,15 +151,38 @@ keyframes:
       Knee_Pitch: -179.908
       Ankle_Pitch: 63.026
       Ankle_Roll: 45.836
+    kp: 50
+    kd: 2
     p_gains:
-      Hip_Pitch: 25
-      Hip_Roll: 25
-      Hip_Yaw: 25
-      Knee_Pitch: 25
+      Hip_Pitch: 120
+      Hip_Roll: 120
+      Hip_Yaw: 120
+      Knee_Pitch: 180
+      Ankle_Pitch: 150
+      Ankle_Roll: 150
 
+  - delta: 0.15
+    motor_positions:
+      Head_yaw: 0.000
+      Head_pitch: 0.000
+      Shoulder_Pitch: -114.000
+      Shoulder_Roll: -89.954
+      Elbow_Pitch: -45.000
+      Elbow_Yaw: 0.000
+      Waist: 0.000
+      Hip_Pitch: 10.000
+      Hip_Roll: 16.000
+      Hip_Yaw: 4.000
+      Knee_Pitch: -80.000
+      Ankle_Pitch: 30.000
+      Ankle_Roll: 6.000
+    kp: 50
+    kd: 2
+    p_gains:
+      Ankle_Pitch: 80
+      Ankle_Roll: 80
 
-
-  - delta: 0.6
+  - delta: 0.15
     motor_positions:
       Head_yaw: 0.000
       Head_pitch: 0.000
@@ -69,11 +197,11 @@ keyframes:
       Knee_Pitch: -42.971
       Ankle_Pitch: 57.296
       Ankle_Roll: 0.000
-    kp: 40
-    kd: 4
+    kp: 50
+    kd: 2
     p_gains:
-       Ankle_Pitch: 100
-       Ankle_Roll: 100
+      Ankle_Pitch: 100
+      Ankle_Roll: 100
 
   - delta: 0.25
     motor_positions:

behaviors/custom/keyframe/kick/kick.py

@@ -0,0 +1,91 @@
+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

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

behaviors/custom/keyframe/kick/kick_long.yaml

@@ -0,0 +1,213 @@
+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

behaviors/custom/keyframe/kick/kick_mid.yaml

@@ -0,0 +1,213 @@
+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

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