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

This reverts commit 047d3d60c4.

.gitignore

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

agent/agent.py

@@ -49,9 +49,6 @@ 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.
@@ -63,10 +60,6 @@ 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:
         """
@@ -92,19 +85,11 @@ class Agent:
             self.is_getting_up = not self.agent.skills_manager.execute(skill_name="GetUp")
 
         elif self.agent.world.playmode is PlayModeEnum.PLAY_ON:
-            active_player_number = self.get_active_player_number()
+            self.carry_ball()
-            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.execute_support_behavior()
+            self.carry_ball()
-            self.kick_ball()
 
         self.agent.robot.commit_motor_targets_pd()
 
@@ -112,21 +97,18 @@ class Agent:
         """
         Basic example of a behavior: moves the robot toward the goal while handling the ball.
         """
-        target_point = self.target_point
+        their_goal_pos = self.agent.world.field.get_their_goal_position()[:2]
         ball_pos = self.agent.world.ball_pos[:2]
         my_pos = self.agent.world.global_position[:2]
 
-        if self.kick_ball(target_point=target_point):
+        ball_to_goal = their_goal_pos - ball_pos
+        bg_norm = np.linalg.norm(ball_to_goal)
+        if bg_norm == 0:
             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_target_dir * dist_from_ball_to_start_carrying
+        carry_ball_pos = ball_pos - ball_to_goal_dir * dist_from_ball_to_start_carrying
 
         my_to_ball = ball_pos - my_pos
         my_to_ball_norm = np.linalg.norm(my_to_ball)
@@ -135,15 +117,15 @@ class Agent:
         else:
             my_to_ball_dir = my_to_ball / my_to_ball_norm
 
-        cosang = np.dot(my_to_ball_dir, ball_to_target_dir)
+        cosang = np.dot(my_to_ball_dir, ball_to_goal_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_target_dir) < 0
+        behind_ball = np.dot(my_pos - ball_pos, ball_to_goal_dir) < 0
-        desired_orientation = MathOps.vector_angle(ball_to_target)
+        desired_orientation = MathOps.vector_angle(ball_to_goal)
 
         if not aligned or not behind_ball:
             self.agent.skills_manager.execute(
@@ -155,140 +137,8 @@ class Agent:
         else:
             self.agent.skills_manager.execute(
                 "Walk",
-                target_2d=target_point,
+                target_2d=their_goal_pos,
                 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,
-        )
-
-        kick_offset = MathOps.rotate_2d_vec(np.array([0.0, -0.1]), desired_orientation)
-
-        close_to_ball = my_to_ball_dist <= 0.24
-        good_orientation = orientation_error <= 8.0
-        good_lateral_offset = lateral_error_to_shot_line <= 0.16
-
-        can_shoot = (
-            close_to_ball
-            and behind_ball
-            and good_orientation
-            and good_lateral_offset
-        )
-
-        if not can_shoot:
-            prepare_offset = 0.1
-            prepare_pos = ball_pos - ball_to_target_dir * prepare_offset + kick_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

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

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

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

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

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

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: -12.000
-      Left_Hip_Roll: 8.000
-      Left_Hip_Yaw: 0.000
-      Left_Knee_Pitch: 35.000
-      Left_Ankle_Pitch: -18.000
-      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: -25.000
-      Left_Hip_Roll: 10.000
-      Left_Hip_Yaw: 1.000
-      Left_Knee_Pitch: 45.000
-      Left_Ankle_Pitch: -20.000
-      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: -40.000
-      Left_Hip_Roll: 12.000
-      Left_Hip_Yaw: 2.000
-      Left_Knee_Pitch: 18.000
-      Left_Ankle_Pitch: -24.000
-      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: -48.000
-      Left_Hip_Roll: 13.000
-      Left_Hip_Yaw: 3.000
-      Left_Knee_Pitch: -8.000
-      Left_Ankle_Pitch: -18.000
-      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: -50.000
-      Left_Hip_Roll: 13.000
-      Left_Hip_Yaw: 3.000
-      Left_Knee_Pitch: 5.000
-      Left_Ankle_Pitch: -22.000
-      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: -8.000
-      Left_Hip_Roll: 9.000
-      Left_Hip_Yaw: 1.000
-      Left_Knee_Pitch: 28.000
-      Left_Ankle_Pitch: -22.000
-      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: -2.000
-      Left_Hip_Roll: 9.000
-      Left_Hip_Yaw: 1.000
-      Left_Knee_Pitch: 28.000
-      Left_Ankle_Pitch: -18.000
-      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

kick_test.sh

@@ -1,7 +0,0 @@
-#!/bin/bash
-export OMP_NUM_THREADS=1
-
-host=${1:-localhost}
-port=${2:-60000}
-
-python3 run_player.py --host $host --port $port -n 1 -t SE &