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)