From d22a05f63a5a2ae3068859ca634820580b5ab365 Mon Sep 17 00:00:00 2001 From: Miro Date: Sun, 24 May 2026 21:23:57 +0200 Subject: [PATCH] standup front animation added --- .../bitbots_hcm/bitbots_hcm/hcm_dsd/hcm.dsd | 2 +- .../animations/standup/stand_up_front.json | 219 ++++++++++++++++++ 2 files changed, 220 insertions(+), 1 deletion(-) create mode 100644 src/bitbots_robot/piplus_animations/animations/standup/stand_up_front.json diff --git a/src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm.dsd b/src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm.dsd index ccd5e67ea..69964d173 100644 --- a/src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm.dsd +++ b/src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm.dsd @@ -31,7 +31,7 @@ $StartHCM OKAY --> $Fallen FALLEN_FRONT --> $GameControllerStop STOPPED --> @RobotStateFallen, @CancelGoals, @StopWalking, @Wait - FREE --> @RobotStateFallen, @CancelGoals, @StopWalking, @RobotStateGettingUp, @Complain, @PlayAnimationWalkReady + FREE --> @RobotStateFallen, @CancelGoals, @StopWalking, @RobotStateGettingUp, @Complain, @PlayAnimationStandupFront FALLEN_BACK --> $GameControllerStop STOPPED --> @RobotStateFallen, @CancelGoals, @StopWalking, @Wait FREE --> @RobotStateFallen, @CancelGoals, @StopWalking, @RobotStateGettingUp, @Complain, @PlayAnimationStandupBack diff --git a/src/bitbots_robot/piplus_animations/animations/standup/stand_up_front.json b/src/bitbots_robot/piplus_animations/animations/standup/stand_up_front.json new file mode 100644 index 000000000..4f16f3a86 --- /dev/null +++ b/src/bitbots_robot/piplus_animations/animations/standup/stand_up_front.json @@ -0,0 +1,219 @@ +{ + "author": "", + "description": "", + "keyframes": [ + { + "duration": 1.0, + "goals": { + "head_pitch_joint": -62.46000000000001, + "head_yaw_joint": 1.62, + "l_ankle_pitch_joint": -34.34, + "l_ankle_roll_joint": 1.22, + "l_calf_joint": -60.7, + "l_elbow_joint": 0.07, + "l_hip_pitch_joint": -33.3, + "l_hip_roll_joint": -0.68, + "l_shoulder_pitch_joint": 89.42, + "l_shoulder_roll_joint": 70.85, + "l_thigh_joint": 0.18, + "l_upper_arm_joint": 0.0, + "r_ankle_pitch_joint": 35.53, + "r_ankle_roll_joint": 15.08400149892043, + "r_calf_joint": 67.93, + "r_elbow_joint": 0.25, + "r_hip_pitch_joint": 35.1, + "r_hip_roll_joint": 0.79, + "r_shoulder_pitch_joint": -89.28, + "r_shoulder_roll_joint": -68.8, + "r_thigh_joint": 0.43, + "r_upper_arm_joint": 0.0 + }, + "name": "start frame", + "pause": 0.0, + "torque": {} + }, + { + "duration": 1.0, + "goals": { + "head_pitch_joint": -62.46000000000001, + "head_yaw_joint": 1.62, + "l_ankle_pitch_joint": -50.8, + "l_ankle_roll_joint": -44.42, + "l_calf_joint": -126.07, + "l_elbow_joint": -1.4400000315339143, + "l_hip_pitch_joint": -134.5, + "l_hip_roll_joint": 60.19, + "l_shoulder_pitch_joint": -23.43600121224163, + "l_shoulder_roll_joint": 27.97200155703338, + "l_thigh_joint": -5.29, + "l_upper_arm_joint": 95.36400277668847, + "r_ankle_pitch_joint": 55.44, + "r_ankle_roll_joint": 49.79, + "r_calf_joint": 90.61, + "r_elbow_joint": -86.98, + "r_hip_pitch_joint": 94.64, + "r_hip_roll_joint": -62.93000000000001, + "r_shoulder_pitch_joint": -61.27, + "r_shoulder_roll_joint": -6.44, + "r_thigh_joint": -23.260000000000005, + "r_upper_arm_joint": 51.26 + }, + "name": "1", + "pause": 0.0, + "torque": {} + }, + { + "duration": 0.7, + "goals": { + "head_pitch_joint": -62.46000000000001, + "head_yaw_joint": 1.62, + "l_ankle_pitch_joint": -49.39, + "l_ankle_roll_joint": -16.67, + "l_calf_joint": -131.94, + "l_elbow_joint": 5.15, + "l_hip_pitch_joint": -140.94, + "l_hip_roll_joint": 59.040000000000006, + "l_shoulder_pitch_joint": 9.47, + "l_shoulder_roll_joint": 85.28, + "l_thigh_joint": 6.95, + "l_upper_arm_joint": 36.86, + "r_ankle_pitch_joint": 55.19, + "r_ankle_roll_joint": 49.43, + "r_calf_joint": 71.28, + "r_elbow_joint": 4.1, + "r_hip_pitch_joint": 50.76, + "r_hip_roll_joint": -51.77, + "r_shoulder_pitch_joint": -12.38, + "r_shoulder_roll_joint": 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"goals": { + "head_pitch_joint": -62.46000000000001, + "head_yaw_joint": 1.62, + "l_ankle_pitch_joint": -50.33, + "l_ankle_roll_joint": 7.699999999999999, + "l_calf_joint": -131.8, + "l_elbow_joint": 79.7, + "l_hip_pitch_joint": -95.9, + "l_hip_roll_joint": 24.84, + "l_shoulder_pitch_joint": 37.44, + "l_shoulder_roll_joint": 59.39999999999999, + "l_thigh_joint": 2.95, + "l_upper_arm_joint": 64.12, + "r_ankle_pitch_joint": 9.65, + "r_ankle_roll_joint": 49.64400054818708, + "r_calf_joint": 49.9, + "r_elbow_joint": -56.3, + "r_hip_pitch_joint": 57.6, + "r_hip_roll_joint": -44.39, + "r_shoulder_pitch_joint": -34.16, + "r_shoulder_roll_joint": -84.49, + "r_thigh_joint": -19.76, + "r_upper_arm_joint": -71.17 + }, + "name": "4", + "pause": 0.0, + "torque": {} + }, + { + "duration": 0.8, + "goals": { + "head_pitch_joint": -62.46000000000001, + "head_yaw_joint": 1.62, + "l_ankle_pitch_joint": -54.11, + "l_ankle_roll_joint": 2.84, + "l_calf_joint": -118.91000000000001, + "l_elbow_joint": 91.55000000000001, + "l_hip_pitch_joint": -81.40000000000002, + "l_hip_roll_joint": 18.32, + "l_shoulder_pitch_joint": 74.3, + "l_shoulder_roll_joint": 69.7, + "l_thigh_joint": -3.1, + "l_upper_arm_joint": 25.09, + "r_ankle_pitch_joint": 51.01, + "r_ankle_roll_joint": 28.08000050818962, + "r_calf_joint": 120.67, + "r_elbow_joint": -35.53, + "r_hip_pitch_joint": 80.32, + "r_hip_roll_joint": 7.699999999999999, + "r_shoulder_pitch_joint": -40.68, + "r_shoulder_roll_joint": -94.32, + "r_thigh_joint": -3.74, + "r_upper_arm_joint": -76.54 + }, + "name": "5", + "pause": 0.0, + "torque": {} + }, + { + "duration": 0.8, + "goals": { + "head_pitch_joint": 0.3240000017590454, + "head_yaw_joint": 3.71, + "l_ankle_pitch_joint": -34.34, + "l_ankle_roll_joint": 1.22, + "l_calf_joint": -60.7, + "l_elbow_joint": 0.07, + "l_hip_pitch_joint": -33.3, + "l_hip_roll_joint": -0.68, + "l_shoulder_pitch_joint": 89.42, + "l_shoulder_roll_joint": 70.85, + "l_thigh_joint": 0.18, + "l_upper_arm_joint": 0.0, + "r_ankle_pitch_joint": 35.53, + "r_ankle_roll_joint": 15.08, + "r_calf_joint": 67.93, + "r_elbow_joint": 0.25, + "r_hip_pitch_joint": 35.1, + "r_hip_roll_joint": 0.79, + "r_shoulder_pitch_joint": -89.28, + "r_shoulder_roll_joint": -68.8, + "r_thigh_joint": 0.43, + "r_upper_arm_joint": 0.0 + }, + "name": "start frame_copy_1", + "pause": 0.0, + "torque": {} + } + ], + "last_edited": "2026-05-24 21:04:50.578964", + "name": "standup_front_async", + "version": "" +} \ No newline at end of file