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@manx52
manx52 committed Dec 2, 2024
1 parent 018deb6 commit 79c2153
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Showing 23 changed files with 142 additions and 128 deletions.
4 changes: 4 additions & 0 deletions .idea/soccerbot.iml
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77 changes: 40 additions & 37 deletions .idea/workspace.xml
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6 changes: 1 addition & 5 deletions soccer_control/soccer_pycontrol/src/soccer_pycontrol/pybullet_usage/pybullet_load_model.py
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Original file line number Diff line number Diff line change
Expand Up @@ -43,11 +43,7 @@ def set_pose(self, pose: Transformation = Transformation()) -> None:
self.pose.position = (self.pose.position[0], self.pose.position[1], self.walking_torso_height)

[y, _, _] = pose.orientation_euler
r = 0

if self.robot_model == "bez2": # TODO need to fix this
r = -0.64

self.pose.orientation_euler = [y, 0, r]
self.pose.orientation_euler = [y, 0, 0]
if pb.isConnected():
pb.resetBasePositionAndOrientation(self.body, self.pose.position, self.pose.quaternion)
19 changes: 16 additions & 3 deletions soccer_control/soccer_trajectories/src/soccer_trajectories/pybullet_setup.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
import time
from os.path import expanduser
from typing import List

import pybullet as pb
from soccer_pycontrol.pybullet_usage.pybullet_world import PybulletWorld
Expand Down Expand Up @@ -38,12 +39,24 @@ def __init__(
baseOrientation=pose.quaternion,
)

self.motor_names = [pb.getJointInfo(self.body, i)[1].decode("utf-8") for i in range(20)]
self.motor_names = self.find_motor_names()

self.numb_of_motors = len(self.motor_names)
self.max_forces = []

for i in range(0, 20):
for i in range(0, self.numb_of_motors):
self.max_forces.append(pb.getJointInfo(self.body, i)[10] or 6) # TODO why is this acting so weird

def find_motor_names(self) -> List[str]:

names = []
for i in range(pb.getNumJoints(self.body)):
joint_info = pb.getJointInfo(self.body, i)
if joint_info[2] == pb.JOINT_REVOLUTE:
names.append(joint_info[1].decode("utf-8"))

return names

def wait(self, steps) -> None:
"""
Make the robot wait for a few steps
Expand All @@ -62,7 +75,7 @@ def motor_control(self, target: list) -> None:
pb.setJointMotorControlArray(
bodyIndex=self.body,
controlMode=pb.POSITION_CONTROL,
jointIndices=list(range(0, 20, 1)),
jointIndices=list(range(0, self.numb_of_motors, 1)),
targetPositions=target,
forces=self.max_forces,
)
Expand Down
4 changes: 2 additions & 2 deletions soccer_control/soccer_trajectories/src/soccer_trajectories/trajectory_manager_sim.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,10 +27,10 @@ def __init__(
self.sim = PybulletSetup(robot_model=robot_model, real_time=real_time, pose=pose, camera_yaw=camera_yaw)

def read_joint_state(self) -> JointState:
return JointState(name=self.sim.motor_names, position=[0.0] * 20)
return JointState(name=self.sim.motor_names, position=[0.0] * self.sim.numb_of_motors)

def send_joint_msg(self, timestamp: float) -> None:
states = [0.0] * 20
states = [0.0] * self.sim.numb_of_motors
joints, angles = self.trajectory.create_joint_states(timestamp)
for i, joint in enumerate(joints):
states[self.sim.motor_names.index(joint)] = angles[i]
Expand Down
24 changes: 12 additions & 12 deletions soccer_control/soccer_trajectories/test/test_trajectory.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,19 +31,19 @@ def test_trajectory(self):
"right_hip_roll",
"left_hip_roll",
"right_hip_pitch",
"left_leg_motor_2",
"left_hip_pitch",
"right_knee",
"left_leg_motor_3",
"left_knee",
"right_ankle_pitch",
"left_leg_motor_4",
"left_ankle_pitch",
"right_ankle_roll",
"left_leg_motor_5",
"right_arm_motor_0",
"left_arm_motor_0",
"right_arm_motor_1",
"left_arm_motor_1",
"head_motor_0",
"head_motor_1",
"left_ankle_roll",
"right_shoulder_pitch",
"left_shoulder_pitch",
"right_shoulder_roll",
"left_shoulder_roll",
"head_yaw",
"head_pitch",
]
joint_state.position = [0.0] * 18

Expand All @@ -52,7 +52,7 @@ def test_trajectory(self):
self.assertEqual(angles, [0.0, 0.0, 0.0, 0.0, 0.564, 0.564, -1.176, -1.176, 0.613, 0.613, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])


@pytest.mark.parametrize("trajectory_name", ["rightkick_2"]) # , "getupback_full", "rightkick", "getupfront"])
@pytest.mark.parametrize("trajectory_name", ["getupfront"]) # , "getupback_full", "rightkick", "getupfront"])
@pytest.mark.parametrize("robot_model", ["assembly"])
@pytest.mark.parametrize("real_time", [True])
def test_trajectory_sim(trajectory_name: str, robot_model: str, real_time: bool):
Expand All @@ -64,7 +64,7 @@ def test_trajectory_sim(trajectory_name: str, robot_model: str, real_time: bool)
if trajectory_name == "getupfront":
pose = Transformation(position=[0, 0, 0.070], euler=[0, 1.57, 0])
camera = 0
elif trajectory_name == "getupback_full" or trajectory_name == "getupback_roll" or trajectory_name == "getupback":
elif "getupback" in trajectory_name:
pose = Transformation(position=[0, 0, 0.070], euler=[0, -1.57, 0])
camera = 0
else:
Expand Down
2 changes: 0 additions & 2 deletions soccer_control/soccer_trajectories/trajectories/bez1/getupfront.csv
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Original file line number Diff line number Diff line change
Expand Up @@ -15,5 +15,3 @@ right_shoulder_pitch,0,-1.5,0,1.5,1.5,1.5,1.5,1,0.7,0.2,-0.5,0,0.3,0.8,0.7,0.6,0
left_shoulder_pitch,0,-1.5,0,1.5,1.5,1.5,1.5,1,0.7,0.2,-0.5,0,0.3,0.8,0.7,0.6,0.5,0.6,0.75
right_elbow,0,2.5,3,1.5,2,2,2,2.3,2.5,2.8,2.6,2.6,1.3,0,0,0,0,0,0
left_elbow,0,2.5,3,1.5,2,2,2,2.3,2.5,2.8,2.6,2.6,1.3,0,0,0,0,0,0
right_shoulder_roll,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
left_shoulder_roll,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
4 changes: 2 additions & 2 deletions soccer_control/soccer_trajectories/trajectories/bez1/getupside.csv
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Original file line number Diff line number Diff line change
Expand Up @@ -15,5 +15,5 @@ right_shoulder_pitch,0,-1.5708
left_shoulder_pitch,0,-1.5708
right_elbow,0,0
left_elbow,0,0
head_motor_0,0,0
head_motor_1,0,0
head_yaw,0,0
head_pitch,0,0
10 changes: 5 additions & 5 deletions soccer_control/soccer_trajectories/trajectories/bez1_sim/getupback.csv
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Original file line number Diff line number Diff line change
Expand Up @@ -4,16 +4,16 @@ left_hip_yaw,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
right_hip_roll,0,0,0,0,0,0.2,0.2,0,0,0,0,0,0,0,0
left_hip_roll,0,0,0,0,0,0.2,0.2,0,0,0,0,0,0,0,0
right_hip_pitch,0,0,0,0,0,0,0,0,1,1.5,1.8,1.8,1.8,1.7,0.564
left_leg_motor_2,0,0,0,0,0,0,0,0,1,1.5,1.8,1.8,1.8,1.7,0.564
left_hip_pitch,0,0,0,0,0,0,0,0,1,1.5,1.8,1.8,1.8,1.7,0.564
right_knee,0,0,-2.5,-2.5,0,0,0,0,-1,-1.3,-1.8,-2.2,-2.6,-2.6, -1.176
left_leg_motor_3,0,0,-2.5,-2.5,0,0,0,0,-1,-1.3,-1.8,-2.2,-2.6,-2.6, -1.176
left_knee,0,0,-2.5,-2.5,0,0,0,0,-1,-1.3,-1.8,-2.2,-2.6,-2.6, -1.176
right_ankle_pitch,0,0,-0.77,-0.77,-0.77,-0.77,0,1.1,1.3,1.3,1.3,1.3,1.2,1.2,0.613
left_leg_motor_4,0,0,-0.77,-0.77,-0.77,-0.77,0,1.1,1.3,1.3,1.3,1.3,1.2,1.2,0.613
left_ankle_pitch,0,0,-0.77,-0.77,-0.77,-0.77,0,1.1,1.3,1.3,1.3,1.3,1.2,1.2,0.613
right_ankle_roll,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
left_ankle_roll,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
right_shoulder_pitch,0,0,0,0,-1.57,-1.57,0,1.5,1.5,2,1.3,1.8,1.0,0.9,0
left_shoulder_pitch,0,-1.57,-1.57,-1.57,-1.57,-1.57,0,1.5,1.5,2,1.3,1.8,1.0,0.9,0
right_elbow,0,0,0,0,0,0,3.14,3.14,2,2,1.3,0,0,0,0
left_elbow,0,1.57,1.57,0,0,0,3.14,3.14,2,2,1.3,0,0,0,0
head_motor_0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
head_motor_1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
head_yaw,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
head_pitch,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
10 changes: 5 additions & 5 deletions soccer_control/soccer_trajectories/trajectories/bez1_sim/getupback_real.csv
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Original file line number Diff line number Diff line change
Expand Up @@ -4,16 +4,16 @@ left_hip_yaw,0.0,-1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0
right_hip_roll,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.2,0.2,0.0,0.0,0.0,0,0,0,0
left_hip_roll,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.2,0.2,0.0,0.0,0.0,0,0,0,0
right_hip_pitch,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,1.0,1.5,1.8,1.8,1.8,1.7
left_leg_motor_2,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,1.0,1.5,1.8,1.8,1.8,1.7
left_hip_pitch,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,1.0,1.5,1.8,1.8,1.8,1.7
right_knee,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,-1.0,-1.3,-1.8,-2.2,-2.6,-2.6
left_leg_motor_3,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,-1.0,-1.3,-1.8,-2.2,-2.6,-2.6
left_knee,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,-1.0,-1.3,-1.8,-2.2,-2.6,-2.6
right_ankle_pitch,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,-0.77,-0.77,0.0,1.1,1.3,1.3,1.3,1.3,1.2,1.2
left_leg_motor_4,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,-0.77,-0.77,0.0,1.1,1.3,1.3,1.3,1.3,1.2,1.2
left_ankle_pitch,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,-0.77,-0.77,0.0,1.1,1.3,1.3,1.3,1.3,1.2,1.2
right_ankle_roll,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
left_ankle_roll,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
right_shoulder_pitch,3.9,3.9,3.9,1.57,1.57,1.57,1.57,3.9,3.9,3.9,3.9,0.0,1.5,1.5,2.0,1.3,1.8,1.0,0.9
left_shoulder_pitch,3.9,3.9,3.9,1.57,1.57,1.57,1.57,3.9,3.9,3.9,3.9,0.0,1.5,1.5,2.0,1.3,1.8,1.0,0.9
right_elbow,0,0,0,0,0,0,0.0,0.0,0.0,0.0,0.0,3.14,3.14,2.0,2.0,1.3,0,0,0
left_elbow,0,0,0,0,0,0,0.0,0.0,0.0,0.0,0.0,3.14,3.14,2.0,2.0,1.3,0,0,0
head_motor_0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
head_motor_1,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
head_yaw,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
head_pitch,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
10 changes: 5 additions & 5 deletions soccer_control/soccer_trajectories/trajectories/bez1_sim/getupfront.csv
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Original file line number Diff line number Diff line change
Expand Up @@ -4,16 +4,16 @@ left_hip_yaw,0,0,0,0,0,0,0,0,0,0
right_hip_roll,0,0,0,0,0,0,0,0,0,0
left_hip_roll,0,0,0,0,0,0,0,0,0,0
right_hip_pitch,0,0,0,1,1.5,1.8,1.8,1.8,1.7,0.564
left_leg_motor_2,0,0,0,1,1.5,1.8,1.8,1.8,1.7,0.564
left_hip_pitch,0,0,0,1,1.5,1.8,1.8,1.8,1.7,0.564
right_knee,0,0,0,-1,-1.3,-1.8,-2.2,-2.6,-2.6, -1.176
left_leg_motor_3,0,0,0,-1,-1.3,-1.8,-2.2,-2.6,-2.6, -1.176
left_knee,0,0,0,-1,-1.3,-1.8,-2.2,-2.6,-2.6, -1.176
right_ankle_pitch,0,0,1.1,1.3,1.3,1.3,1.3,1.2,1.2,0.613
left_leg_motor_4,0,0,1.1,1.3,1.3,1.3,1.3,1.2,1.2,0.613
left_ankle_pitch,0,0,1.1,1.3,1.3,1.3,1.3,1.2,1.2,0.613
right_ankle_roll,0,0,0,0,0,0,0,0,0,0
left_ankle_roll,0,0,0,0,0,0,0,0,0,0
right_shoulder_pitch,0,0,1.5,1.5,2,1.3,1.8,1.0,0.9,0
left_shoulder_pitch,0,0,1.5,1.5,2,1.3,1.8,1.0,0.9,0
right_elbow,0,3.14,3.14,2,2,1.3,0,0,0,0
left_elbow,0,3.14,3.14,2,2,1.3,0,0,0,0
head_motor_0,0,0,0,0,0,0,0,0,0,0
head_motor_1,0,0,0,0,0,0,0,0,0,0
head_yaw,0,0,0,0,0,0,0,0,0,0
head_pitch,0,0,0,0,0,0,0,0,0,0
10 changes: 5 additions & 5 deletions soccer_control/soccer_trajectories/trajectories/bez1_sim/getupside.csv
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Original file line number Diff line number Diff line change
Expand Up @@ -4,16 +4,16 @@ left_hip_yaw,0,0
right_hip_roll,0,0
left_hip_roll,0,0
right_hip_pitch,0,0
left_leg_motor_2,0,0
left_hip_pitch,0,0
right_knee,0,0
left_leg_motor_3,0,0
left_knee,0,0
right_ankle_pitch,0,0
left_leg_motor_4,0,0
left_ankle_pitch,0,0
right_ankle_roll,0,0
left_ankle_roll,0,0
right_shoulder_pitch,0,-1.5708
left_shoulder_pitch,0,-1.5708
right_elbow,0,0
left_elbow,0,0
head_motor_0,0,0
head_motor_1,0,0
head_yaw,0,0
head_pitch,0,0
10 changes: 5 additions & 5 deletions soccer_control/soccer_trajectories/trajectories/bez1_sim/goalieleft.csv
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Original file line number Diff line number Diff line change
Expand Up @@ -4,16 +4,16 @@ left_hip_yaw,0,0,0
right_hip_roll,0,0,0
left_hip_roll,0,0,0
right_hip_pitch,0.564,0.564,0.564
left_leg_motor_2,0.564,0.564,0.564
left_hip_pitch,0.564,0.564,0.564
right_knee,-1.176,-1.176,-1.176
left_leg_motor_3,-1.176,-2.5,-1.176
left_knee,-1.176,-2.5,-1.176
right_ankle_pitch,0.613,0.613,0.613
left_leg_motor_4,0.613,1.2,0.613
left_ankle_pitch,0.613,1.2,0.613
right_ankle_roll,0,0,0
left_ankle_roll,0,0,0
right_shoulder_pitch,3.14,3.14,3.14
left_shoulder_pitch,3.14,3.14,3.14
right_elbow,0,0,0
left_elbow,0,0,0
head_motor_0,0,0,0
head_motor_1,0,0,0
head_yaw,0,0,0
head_pitch,0,0,0
10 changes: 5 additions & 5 deletions soccer_control/soccer_trajectories/trajectories/bez1_sim/goalieright.csv
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Original file line number Diff line number Diff line change
Expand Up @@ -4,16 +4,16 @@ left_hip_yaw,0,0,0
right_hip_roll,0,0,0
left_hip_roll,0,0,0
right_hip_pitch,0.564,0.564,0.564
left_leg_motor_2,0.564,0.564,0.564
left_hip_pitch,0.564,0.564,0.564
right_knee,-1.176,-2.5,-1.176
left_leg_motor_3,-1.176,-1.176,-1.176
left_knee,-1.176,-1.176,-1.176
right_ankle_pitch,0.613,1.2,0.613
left_leg_motor_4,0.613,0.613,0.613
left_ankle_pitch,0.613,0.613,0.613
right_ankle_roll,0,0,0
left_ankle_roll,0,0,0
right_shoulder_pitch,3.14,3.14,3.14
left_shoulder_pitch,3.14,3.14,3.14
right_elbow,0,0,0
left_elbow,0,0,0
head_motor_0,0,0,0
head_motor_1,0,0,0
head_yaw,0,0,0
head_pitch,0,0,0
6 changes: 3 additions & 3 deletions soccer_control/soccer_trajectories/trajectories/bez1_sim/rightkick.csv
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Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
time,0.69,0.7,0.75,1,1.2,1.4,1.41,1.7,2
left_hip_yaw,0,0,0,0,0,0,0,0,0
left_hip_roll,0.1,0.1,-0.15,-0.15,-0.25,-0.25,-0.25,-0.25,0.1
left_leg_motor_2,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25
left_leg_motor_3,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4
left_leg_motor_4,0.2,0.2,0.2,0.2,0.2,0.2,0.2,0.2,0.2
left_hip_pitch,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25,0.25
left_knee,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4,-0.4
left_ankle_pitch,0.2,0.2,0.2,0.2,0.2,0.2,0.2,0.2,0.2
left_ankle_roll,-0.1,-0.1,0.15,0.15,0.25,0.25,0.25,0.25,-0.1
left_shoulder_pitch,0,0,0,0,-1,-1,1,1,0
left_elbow,2,2,2,2,2,2,2,2,2
Expand Down
8 changes: 4 additions & 4 deletions soccer_control/soccer_trajectories/trajectories/bez2_sim/fix_angle_test.csv
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Original file line number Diff line number Diff line change
Expand Up @@ -6,16 +6,16 @@ left_hip_roll,0,0,0
right_hip_pitch,0,0,0
left_leg_motor_2,0,0,0
right_knee,0,0,0
left_leg_motor_3,0,0,0
left_knee,0,0,0
right_ankle_pitch,0,0,0
left_leg_motor_4,0,0,0
left_ankle_pitch,0,0,0
right_ankle_roll,0,0,0
left_ankle_roll,0,0,0
right_shoulder_pitch,0,3.14,3.14
left_shoulder_pitch,0,3.14,3.14
right_elbow,0,0,0
left_elbow,0,0,0
head_motor_0,0,1,-1
head_motor_1,0,0,0
head_yaw,0,1,-1
head_pitch,0,0,0
right_shoulder_roll,0,0,0
left_shoulder_roll,0,0,0
8 changes: 4 additions & 4 deletions soccer_control/soccer_trajectories/trajectories/bez2_sim/getupback.csv
View file
Original file line number Diff line number Diff line change
Expand Up @@ -6,16 +6,16 @@ left_hip_roll,0,0,0,0,0,0.2,0.2,0,0,0,0,0,0,0,0
right_hip_pitch,0,0,0,0,0,0,0,0,1,1.5,1.8,1.8,1.8,1.7,0.564
left_leg_motor_2,0,0,0,0,0,0,0,0,1,1.5,1.8,1.8,1.8,1.7,0.564
right_knee,0,0,-2.5,-2.5,0,0,0,0,-1,-1.3,-1.8,-2.2,-2.6,-2.6, -1.176
left_leg_motor_3,0,0,-2.5,-2.5,0,0,0,0,-1,-1.3,-1.8,-2.2,-2.6,-2.6, -1.176
left_knee,0,0,-2.5,-2.5,0,0,0,0,-1,-1.3,-1.8,-2.2,-2.6,-2.6, -1.176
right_ankle_pitch,0,0,-0.77,-0.77,-0.77,-0.77,0,1.1,1.3,1.3,1.3,1.3,1.2,1.2,0.613
left_leg_motor_4,0,0,-0.77,-0.77,-0.77,-0.77,0,1.1,1.3,1.3,1.3,1.3,1.2,1.2,0.613
left_ankle_pitch,0,0,-0.77,-0.77,-0.77,-0.77,0,1.1,1.3,1.3,1.3,1.3,1.2,1.2,0.613
right_ankle_roll,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
left_ankle_roll,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
right_shoulder_pitch,0,0,0,0,-1.57,-1.57,0,1.5,1.5,2,1.3,1.8,1.0,0.9,0
left_shoulder_pitch,0,-1.57,-1.57,-1.57,-1.57,-1.57,0,1.5,1.5,2,1.3,1.8,1.0,0.9,0
right_shoulder_roll,0,0,0,0,0,0,3.14,3.14,2,2,1.3,0,0,0,0
left_shoulder_roll,0,1.57,1.57,0,0,0,3.14,3.14,2,2,1.3,0,0,0,0
head_motor_0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
head_motor_1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
head_yaw,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
head_pitch,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
right_elbow,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
left_elbow,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
8 changes: 4 additions & 4 deletions soccer_control/soccer_trajectories/trajectories/bez2_sim/getupback_real.csv
View file
Original file line number Diff line number Diff line change
Expand Up @@ -6,14 +6,14 @@ left_hip_roll,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.2,0.2,0.0,0.0,0.0,0,0,0,
right_hip_pitch,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,1.0,1.5,1.8,1.8,1.8,1.7
left_leg_motor_2,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,1.0,1.5,1.8,1.8,1.8,1.7
right_knee,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,-1.0,-1.3,-1.8,-2.2,-2.6,-2.6
left_leg_motor_3,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,-1.0,-1.3,-1.8,-2.2,-2.6,-2.6
left_knee,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,-1.0,-1.3,-1.8,-2.2,-2.6,-2.6
right_ankle_pitch,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,-0.77,-0.77,0.0,1.1,1.3,1.3,1.3,1.3,1.2,1.2
left_leg_motor_4,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,-0.77,-0.77,0.0,1.1,1.3,1.3,1.3,1.3,1.2,1.2
left_ankle_pitch,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,-0.77,-0.77,0.0,1.1,1.3,1.3,1.3,1.3,1.2,1.2
right_ankle_roll,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
left_ankle_roll,1.57,1.57,1.57,1.57,1.57,-1.57,-1.57,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
right_shoulder_pitch,3.9,3.9,3.9,1.57,1.57,1.57,1.57,3.9,3.9,3.9,3.9,0.0,1.5,1.5,2.0,1.3,1.8,1.0,0.9
left_shoulder_pitch,3.9,3.9,3.9,1.57,1.57,1.57,1.57,3.9,3.9,3.9,3.9,0.0,1.5,1.5,2.0,1.3,1.8,1.0,0.9
right_elbow,0,0,0,0,0,0,0.0,0.0,0.0,0.0,0.0,3.14,3.14,2.0,2.0,1.3,0,0,0
left_elbow,0,0,0,0,0,0,0.0,0.0,0.0,0.0,0.0,3.14,3.14,2.0,2.0,1.3,0,0,0
head_motor_0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
head_motor_1,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
head_yaw,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
head_pitch,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0
8 changes: 4 additions & 4 deletions soccer_control/soccer_trajectories/trajectories/bez2_sim/getupfront.csv
View file
Original file line number Diff line number Diff line change
Expand Up @@ -6,16 +6,16 @@ left_hip_roll,0,0,0,0,0,0,0,0,0,0
right_hip_pitch,0,0,0,1,1.5,2,2,2,1.7,0.564
left_leg_motor_2,0,0,0,1,1.5,2,2,2,1.7,0.564
right_knee,0,0,0,-1,-1.3,-1.8,-2.2,-2.6,-2.6, -1.176
left_leg_motor_3,0,0,0,-1,-1.3,-1.8,-2.2,-2.6,-2.6, -1.176
left_knee,0,0,0,-1,-1.3,-1.8,-2.2,-2.6,-2.6, -1.176
right_ankle_pitch,0,0,1.1,1.5,1.5,1.5,1.5,1.2,1.2,0.613
left_leg_motor_4,0,0,1.1,1.5,1.5,1.5,1.5,1.2,1.2,0.613
left_ankle_pitch,0,0,1.1,1.5,1.5,1.5,1.5,1.2,1.2,0.613
right_ankle_roll,0,0,0,0,0,0,0,0,0,0
left_ankle_roll,0,0,0,0,0,0,0,0,0,0
right_shoulder_pitch,0,0,1.5,1.5,2,1.3,1.8,1.0,0.9,0
left_shoulder_pitch,0,0,1.5,1.5,2,1.3,1.8,1.0,0.9,0
right_shoulder_roll,0,3.14,3.14,2,2,1.3,0,0,0,0
left_shoulder_roll,0,3.14,3.14,2,2,1.3,0,0,0,0
head_motor_0,0,0,0,0,0,0,0,0,0,0
head_motor_1,0,0,0,0,0,0,0,0,0,0
head_yaw,0,0,0,0,0,0,0,0,0,0
head_pitch,0,0,0,0,0,0,0,0,0,0
right_elbow,0,0,0,0,0,0,0,0,0,0
left_elbow,0,0,0,0,0,0,0,0,0,0
8 changes: 4 additions & 4 deletions soccer_control/soccer_trajectories/trajectories/bez2_sim/getupside.csv
View file
Original file line number Diff line number Diff line change
Expand Up @@ -6,14 +6,14 @@ left_hip_roll,0,0
right_hip_pitch,0,0
left_leg_motor_2,0,0
right_knee,0,0
left_leg_motor_3,0,0
left_knee,0,0
right_ankle_pitch,0,0
left_leg_motor_4,0,0
left_ankle_pitch,0,0
right_ankle_roll,0,0
left_ankle_roll,0,0
right_shoulder_pitch,0,-1.5708
left_shoulder_pitch,0,-1.5708
right_elbow,0,0
left_elbow,0,0
head_motor_0,0,0
head_motor_1,0,0
head_yaw,0,0
head_pitch,0,0
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