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Add stand_up_front animation #877

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Merged
ayin21 merged 2 commits into from
Jun 1, 2026
Merged

Add stand_up_front animation #877

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d22a05f
standup front animation added
BloodWork44 May 24, 2026
fa15599
Merge branch 'main' into feature/standup_front
ayin21 Jun 1, 2026
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2 changes: 1 addition & 1 deletion src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/hcm.dsd
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
219 changes: 219 additions & 0 deletions src/bitbots_robot/piplus_animations/animations/standup/stand_up_front.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,219 @@
{
"author": "",
"description": "",
"keyframes": [
{
"duration": 1.0,
"goals": {
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"l_calf_joint": -60.7,
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"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": {
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"head_yaw_joint": 1.62,
"l_ankle_pitch_joint": -50.8,
"l_ankle_roll_joint": -44.42,
"l_calf_joint": -126.07,
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"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,
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"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,
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{
"duration": 0.7,
"goals": {
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"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,
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"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": -92.84,
"r_thigh_joint": -22.72,
"r_upper_arm_joint": 22.820000000000004
},
"name": "2",
"pause": 0.0,
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{
"duration": 0.8,
"goals": {
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"l_ankle_pitch_joint": -50.26,
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"l_elbow_joint": 41.69,
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"l_hip_roll_joint": 40.18,
"l_shoulder_pitch_joint": -36.97,
"l_shoulder_roll_joint": 77.11,
"l_thigh_joint": -33.73,
"l_upper_arm_joint": 124.42,
"r_ankle_pitch_joint": -6.444000029056475,
"r_ankle_roll_joint": 49.64400054818708,
"r_calf_joint": 36.53999917266706,
"r_elbow_joint": 1.55,
"r_hip_pitch_joint": 132.26400414503397,
"r_hip_roll_joint": -42.15600268939957,
"r_shoulder_pitch_joint": 1.66,
"r_shoulder_roll_joint": -92.66,
"r_thigh_joint": -44.31600220309191,
"r_upper_arm_joint": 50.87
},
"name": "3",
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{
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"goals": {
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"l_ankle_pitch_joint": -50.33,
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"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,
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"r_ankle_pitch_joint": 9.65,
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"r_calf_joint": 49.9,
"r_elbow_joint": -56.3,
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"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": {
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"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": {
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"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": ""
}
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