can get up from back position.

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_Pitch: -100.944
-      Elbow_Yaw: -171.887
+      Elbow_Yaw: -171.000
       Waist: 0.000
-      Hip_Pitch: -45.836
+      Hip_Pitch: -35.000
-      Hip_Roll: 179.908
+      Hip_Roll: 24.000
-      Hip_Yaw: 179.908
+      Hip_Yaw: 8.000
-      Knee_Pitch: -179.908
+      Knee_Pitch: -100.000
-      Ankle_Pitch: 89.954
+      Ankle_Pitch: 70.000
-      Ankle_Roll: 89.954
+      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_Pitch: 120
-      Hip_Roll: 25
+      Hip_Roll: 120
-      Hip_Yaw: 25
+      Hip_Yaw: 120
-      Knee_Pitch: 25
+      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: 0.15
-  - delta: 0.6
     motor_positions:
       Head_yaw: 0.000
       Head_pitch: 0.000
@@ -69,8 +197,8 @@ keyframes:
       Knee_Pitch: -42.971
       Ankle_Pitch: 57.296
       Ankle_Roll: 0.000
-    kp: 40
+    kp: 50
-    kd: 4
+    kd: 2
     p_gains:
       Ankle_Pitch: 100
       Ankle_Roll: 100