def setGait(player, gaitTuple):
"""
Builds a new gait using gaitTuple, creates it as a GaitCommand
and sets it as the Robot's current gait. No bounds checking is done
here, so you can give the robot horrible values.
"""
newGait = motion.GaitCommand(gaitTuple[0], gaitTuple[1], gaitTuple[2],
gaitTuple[3], gaitTuple[4], gaitTuple[5],
gaitTuple[6], gaitTuple[7])
player.brain.CoA.setRobotDynamicGait(player.brain.motion, newGait)
0.4, # right zmp off
0.01, # strafe zmp offset
6.6) # turn zmp offset
JOINT_HACK_CONFIG = (
6.5, # left swing hip roll addition
6.5) # right swing hip roll addition
MARVIN_SENSOR_CONFIG = (
0.0, # Feedback type (1.0 = spring, 0.0 = old)
0.5, # angle X scale (gamma)
0.3, # angle Y scale (gamma)
0.00, # spring constant k (kg/s^2)
0.00, # spring constant k (kg/s^2)
7.0, # max angle X (compensation)
4.0, # max angle Y
45.0) # max angle vel (change in compensation)
STIFFNESS_CONFIG = (
0.9, #hipStiffness
0.8, #kneeStiffness
0.6, #anklePitchStiffness
0.7, #ankleRollStiffness
0.4, #armStiffness
0.4) #arm pitch
#Put together all the parts to make a gait - ORDER MATTERS!
ZMP_GAIT = motion.GaitCommand(MARVIN_STANCE_CONFIG, STEP_CONFIG, ZMP_CONFIG,
JOINT_HACK_CONFIG, MARVIN_SENSOR_CONFIG,
STIFFNESS_CONFIG, ODO_CONFIG, ARM_CONFIG)
100.0, # X spring constant k (kg/s^2)
100.0, # Y spring constant k (kg/s^2)
7.0, # max angle X (compensation)
7.0, # max angle Y
45.0) # max angle vel (change in compensation)
STIFFNESS_CONFIG = (0.85, #hipStiffness
0.3, #kneeStiffness
0.4, #anklePitchStiffness
0.3, #ankleRollStiffness
0.1, #armStiffness
0.1) #arm pitch
MARVIN_MEDIUM_GAIT = motion.GaitCommand(MARVIN_MED_STANCE,
MARVIN_MED_STEP,
MARVIN_MED_ZMP,
JOINT_HACK_CONFIG,
MED_SENSOR,
STIFFNESS_CONFIG,
ODO_CONFIG,
ARM_CONFIG)
MEDIUM_GAIT = motion.GaitCommand(MED_STANCE,
MED_STEP,
MED_ZMP,
JOINT_HACK_CONFIG,
MED_SENSOR,
STIFFNESS_CONFIG,
ODO_CONFIG,
ARM_CONFIG)
FAST_SENSOR = (1.0, # Feedback type (1.0 = spring, 0.0 = old)
0.06, # angle X scale (gamma)
0.08, # angle Y scale (gamma)
250.0, # X spring constant k (kg/s^2)
100.0, # Y spring constant k (kg/s^2)
7.0, # max angle X (compensation)
7.0, # max angle Y
45.0) # max angle vel (change in compensation)
FAST_HACK = (6.5,6.5)
FAST_STIFFNESS = (0.85, #hipStiffness
0.3, #kneeStiffness
0.4, #anklePitchStiffness
0.3, #ankleRollStiffness
0.1, #armStiffness
0.5) #arm pitch
FAST_ODO= ODO_CONFIG
FAST_ARM= (10.0,)
FAST_GAIT = motion.GaitCommand(FAST_STANCE,
FAST_STEP,
FAST_ZMP,
FAST_HACK,
FAST_SENSOR,
FAST_STIFFNESS,
FAST_ODO,
FAST_ARM)
0.01, # strafe zmp offse
6.6) # turn zmp offset
JOINT_HACK_CONFIG = (5.5, # left swing hip roll addition
5.5) # right swing hip roll addition
DUCK_SENSOR = (1.0, # Feedback type (1.0 = spring, 0.0 = old)
0.08, # angle X scale (gamma)
0.08, # angle Y scale (gamma)
100.0, # X spring constant k (kg/s^2)
100.0, # Y spring constant k (kg/s^2)
7.0, # max angle X (compensation)
7.0, # max angle Y
45.0) # max angle vel (change in compensation)
STIFFNESS_CONFIG = (0.85, #hipStiffness
0.3, #kneeStiffness
0.4, #anklePitchStiffness
0.3, #ankleRollStiffness
0.1, #armStiffness
0.1) #arm pitch
DUCK_GAIT = motion.GaitCommand(DUCK_STANCE,
STEP_CONFIG,
ZMP_CONFIG,
JOINT_HACK_CONFIG,
DUCK_SENSOR,
STIFFNESS_CONFIG,
ODO_CONFIG,
ARM_CONFIG)
0.01, # strafe zmp offset
6.6) # turn zmp offset
JOINT_HACK_CONFIG = (
6.5, # left swing hip roll addition
6.5) # right swing hip roll addition
SLOW_SENSOR_CONFIG = (
0.0, # Feedback type (1.0 = spring, 0.0 = old)
0.5, # angle X scale (gamma)
0.3, # angle Y scale (gamma)
0.00, # spring constant k (kg/s^2)
0.00, # spring constant k (kg/s^2)
7.0, # max angle X (compensation)
7.0, # max angle Y
45.0) # max angle vel (change in compensation)
STIFFNESS_CONFIG = (
0.9, #hipStiffness
0.8, #kneeStiffness
0.6, #anklePitchStiffness
0.7, #ankleRollStiffness
0.4, #armStiffness
0.4) #arm pitch
#Put together all the parts to make a gait - ORDER MATTERS!
ZMP_SLOW_GAIT = motion.GaitCommand(SLOWZMP_STANCE_CONFIG, SLOWZMP_STEP_CONFIG,
SLOW_ZMP_CONFIG, JOINT_HACK_CONFIG,
SLOW_SENSOR_CONFIG, STIFFNESS_CONFIG,
ODO_CONFIG, ARM_CONFIG)
45.0,
)
stiffness_4958 = (
0.771453397574,
0.827138642213,
0.690758541416,
1.03356337515,
0.4,
0.4,
)
odo_4958 = (
1.0,
1.0,
1.0,
)
arm_4958 = (12.9371192499, )
gait_4958 = motion.GaitCommand(
stance_4958,
step_4958,
zmp_4958,
joint_hack_4958,
sensor_4958,
stiffness_4958,
odo_4958,
arm_4958,
)
0.00, # spring constant k (kg/s^2)
0.00, # spring constant k (kg/s^2)
15.0, # max angle X (compensation)
15.0, # max angle Y
75.0) # max angle vel (change in compensation)
STIFFNESS_CONFIG = (0.85, #hipStiffness
0.3, #kneeStiffness
0.4, #anklePitchStiffness
0.3, #ankleRollStiffness
0.1, #armStiffness
0.1) #arm pitch
WEBOTS_GAIT=motion.GaitCommand(STANCE_CONFIG,
WEBOTS_STEP_CONFIG,
WEBOTS_ZMP_CONFIG,
WEBOTS_HACK_CONFIG,
SENSOR_CONFIG,
STIFFNESS_CONFIG,
ODO_CONFIG,
ARM_CONFIG)
WEBOTS_GAIT2=motion.GaitCommand(STANCE_CONFIG,
STATIONARY_STEP_CONFIG,
WEBOTS_ZMP_CONFIG,
WEBOTS_HACK_CONFIG,
SENSOR_CONFIG,
STIFFNESS_CONFIG,
ODO_CONFIG,
ARM_CONFIG)
