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Keyframing Motion
Alex Baucom edited this page Apr 23, 2017
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13 revisions
Keyframes are ways to mapping and interpolating servo motor positions to create uniform robotic motion. Our robot uses keyframes in its getup motions and, previously, in our kicks.
Keyframes are generated using the gen_motion.lua file in the Player/Test folder and may be tested using the test_keyframe.lua or test_keyframe2.lua files. (See below for syntax)
| Key | Action |
|---|---|
| + | increases the move resolution |
| - | decreases the move resolution |
| Space | toggles the hardness of the entire robot |
| 1 | toggles right leg hardness |
| 2 | toggles left leg hardness |
| 3 | toggles right arm hardness |
| 4 | toggles left arm hardness |
| h | display help dialog |
| Enter | saves the current joint angles |
| \\ | removes the last recorded frame |
| Esc | generates the keyframe and exits |
The joint key commands below will move the joints one way; using SHIFT+command will move it the other way.
| Key | Joint |
|---|---|
| z | HeadYaw |
| x | HeadPitch |
| q | LShoulderPitch |
| w | LShoulderRoll |
| e | LElbowYaw |
| r | LElbowRoll |
| t | LHipYawPitch |
| a | LHipRoll |
| s | LHipPitch |
| d | LKneePitch |
| f | LAnklePitch |
| g | LAnkleRoll |
| y | RHipYawPitch |
| u | RHipRoll |
| i | RHipPitch |
| o | RKneePitch |
| p | RAnklePitch |
| j | RAnkleRoll |
| k | RShoulderPitch |
| l | RShoulderRoll |
| n | RElbowYaw |
| m | RElbowRoll |
test_keyframe.lua runs through the entire frame at real speed. test_keyframe2.lua has the ability to run one frame at a time. For both of these scripts, the syntax is:
lua test_keyframe.lua filename
All keframe motions we provide have the following naming convention: km_.lua (e.g. km_StandupFromFront.lua is the keyframe motion file for standing up from the robots front/stomach).
Keyframe motions are Lua tables with the following members:
mot
-- table name
mot.servos
-- list of motors/servos you want to control.
mot.keyframes
-- list of frames that the robot will go through
stiffness (Only for NaoV3 and below)
-- the motor stiffness/hardness for this frame
angles
-- the target motor positions for this frame
duration
-- the amount of time that it should take the robot to reach the target motor positions
The following was made in preparation for the 2013 Robocup Internationals. A NaoV4 head was swapped onto a NaoV3 body following a malfunction with the corresponding V4 body. As such, a V3 keyframe file was adapted to V4 and annotated nicely.
--StandupFromBackOldBody.lua
local mot={};
mot.servos={1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,};
mot.keyframes={
{ --Laying on back, straighten out joints
angles={
0.0014920234680176, --HeadYaw
0.44481801986694, --HeadPitch
1.9159240722656, --LShoulderPitch
0.19170808792114, --LShoulderRoll
-1.5524501800537, --LElbowYaw
-0.37425398826599, --LElbowRoll
-0.23926210403442, --LHipYawPitch
-0.0060939788818359, --LHipRoll
0.29917192459106, --LHipPitch
-0.098217964172363, --LKneePitch
0.090464115142822, --LAnklePitch
0.13196587562561, --LAnkleRoll
0, --RHipYawPitch
-0.032171964645386, --RHipRoll
0.25460195541382, --RHipPitch
-0.01990008354187, --RKneePitch
0.085946083068848, --RAnklePitch
-0.047512054443359, --RAnkleRoll
1.9175419807434, --RShoulderPitch
-0.17798590660095, --RShoulderRoll
1.5477640628815, --RElbowYaw
0.34672594070435, --RElbowRoll
},
duration = .4;
},
{ --Prop up from back with hands, pull legs in
angles={
-0.13349986076355, --HeadYaw
0.53072214126587, --HeadPitch
2.1153440475464, --LShoulderPitch
0.13648414611816, --LShoulderRoll
-0.039926052093506, --LElbowYaw
-0.059783935546875, --LElbowRoll
-0.015298128128052, --LHipYawPitch
0.0046439170837402, --LHipRoll
0.41882395744324, --LHipPitch
1.1489241123199, --LKneePitch
0.49237203598022, --LAnklePitch
-0.0091619491577148, --LAnkleRoll
0, --RHipYawPitch
-0.061317920684814, --RHipRoll
0.38959407806396, --RHipPitch
1.1781539916992, --RKneePitch
0.4617760181427, --RAnklePitch
-0.04597806930542, --RAnkleRoll
2.1123600006104, --RShoulderPitch
-0.1641800403595, --RShoulderRoll
-0.093616008758545, --RElbowYaw
0.16571402549744, --RElbowRoll
},
duration = .4;
},
{ --Arms pulled to tailbone and wrists used as fulcrum; legs kick robot onto back
angles={
-0.14423799514771, --HeadYaw
0.52611994743347, --HeadPitch
2.0969362258911, --LShoulderPitch
0.19937801361084, --LShoulderRoll
0.01990008354187, --LElbowYaw
-1.4265780448914, --LElbowRoll
-0.012229919433594, --LHipYawPitch
-0.0014920234680176, --LHipRoll
0.32985186576843, --LHipPitch
1.133584022522, --LKneePitch
0.54912996292114, --LAnklePitch
0.042994022369385, --LAnkleRoll
0, --RHipYawPitch
-0.061317920684814, --RHipRoll
0.34204006195068, --RHipPitch
1.1305999755859, --RKneePitch
0.5216019153595, --RAnklePitch
0.013848066329956, --RAnkleRoll
2.1169619560242, --RShoulderPitch
-0.25161790847778, --RShoulderRoll
-0.044528007507324, --RElbowYaw
1.4450697898865, --REblowRoll
},
duration = .4;
},
{ --Tuck legs in
angles={
-0.14883995056152, --HeadYaw
0.52611994743347, --HeadPitch
1.9036520719528, --LShoulderPitch
0.24693202972412, --LShoulderRoll
0.13188195228577, --LElbowYaw
-1.4772000312805, --LElbowRoll
-0.24693202972412, --LHipYawPitch
-0.07052206993103, --LHipRoll
-1.5968520641327, --LHipPitch
2.1138100624084, --LKneePitch
-1.1904258728027, --LAnklePitch
0.10281991958618, --LAnkleRoll
0, --RHipYawPitch
0.0552659034729, --RHipRoll
-1.6214799880981, --RHipPitch
2.1246318817139, --RKneePitch
-1.1872740983963, --RAnklePitch
-0.039842128753662, --RAnkleRoll
2.1000881195068, --RShoulderPitch
-0.28383207321167, --RShoulderRoll
0.04597806930542, --RElbowYaw
1.4987602233887, --RElbowRoll
},
duration = .4;
},
{ --Throw legs out
angles={
-0.14577198028564, --HeadYaw
0.52611994743347, --HeadPitch
1.9005841016769, --LShoulderPitch
0.27147603034973, --LShoulderRoll
0.12114405632019, --LElbowYaw
-1.4971420764923, --LElbowRoll
-0.51078009605408, --LHipYawPitch
0.0031099319458008, --LHipRoll
-0.62122797966003, --LHipPitch
-0.092082023620605, --LKneePitch
0.85439610481262, --LAnklePitch
0.096683979034424, --LAnkleRoll
0, --RHipYawPitch
0.064470052719116, --RHipRoll
-0.64125394821167, --RHipPitch
-0.093532085418701, --RKneePitch
0.93271398544312, --RAnklePitch
0.072139978408813, --RAnkleRoll
2.041796207428, --RShoulderPitch
-0.30684185028076, --RShoulderRoll
-4.1961669921875e-05, --RElbowYaw
1.5217700004578, --RElbowRoll
},
duration = .05;
},
{ --Hold leg throw, allowing body to swing up
angles={
-0.14423799514771, --HeadYaw
0.51845002174377, --HeadPitch
1.899050116539, --LShoulderPitch
0.27147603034973, --LShoulderRoll
0.12267804145813, --LElbowYaw
-1.4986760616302, --LElbowRoll
-0.50464415550232, --LHipYawPitch
0.027653932571411, --LHipRoll
-0.13648414611816, --LHipPitch
-0.092082023620605, --LKneePitch
0.8129780292511, --LAnklePitch
0.10128593444824, --LAnkleRoll
0, --RHipYawPitch
0.033789873123169, --RHipRoll
-0.096683979034424, --RHipPitch
-0.093532085418701, --RKneePitch
0.88362598419189, --RAnklePitch
0.070605993270874, --RAnkleRoll
2.04026222229, --RShoulderPitch
-0.30684185028076, --RShoulderRoll
0.0014920234680176, --RElbowYaw
1.5248379707336, --RElbowRoll
},
duration = .05;
},
{ --Sit up
angles={
-0.20866584777832, --HeadYaw
0.47242999076843, --HeadPitch
2.0877320766449, --LShoulderPitch
0.27301001548767, --LShoulderroll
0.07205605506897, --LElbowYaw
-1.4879380464554, --LElbowRoll
-0.48163414001465, --LHipYawPitch
0.1120240688324, --LHipRoll
-0.88047409057617, --LHipPitch
-0.092082023620605, --LKneePitch
0.8129780292511, --LAnklePitch
0.096683979034424, --LAnkleRoll
0, --RHipYawPitch
-0.28067994117737, --RHipRoll
-0.86675214767456, --RHipPitch
-0.093532085418701, --RKneePitch
0.93271398544312, --RAnklePitch
0.070605993270874, --RAnkleRoll
2.0494661331177, --RShoulderPitch
-0.28383207321167, --RShoulderRoll
-0.0077118873596191, --RElbowYaw
1.4849538803101, --RElbowRoll
},
duration = .1;
},
{ --Straighten out arms,
angles={
-0.03072190284729, --HeadYaw
0.51998400688171, --HeadPitch
2.1184120178223, --LShoulderPitch
0.48623609542847, --LShoulderroll
-0.08134388923645, --LElbowYaw
-0.7684919834137, --LElbowRoll
-0.44481801986694, --LHipYawPitch
0.15804386138916, --LHipRoll
-1.078360080719, --LHipPitch
-0.093616008758545, --LKneePitch
0.81451201438904, --LAnklePitch
0.095149993896484, --LAnkleRoll
0, --RHipYawPitch
-0.27761197090149, --RHipRoll
-1.0477638244629, --RHipPitch
-0.093532085418701, --RKneePitch
0.93271398544312, --RAnklePitch
0.076741933822632, --RAnkleRoll
2.0694079399109, --RShoulderPitch
-0.39274597167969, --RShoulderRoll
-0.17338395118713, --RElbowYaw
0.56148600578308, --RElbowRoll
},
duration = .4;
},
{ --Wait for 0.4s
angles={
-0.03072190284729, --HeadYaw
0.51998400688171, --HeadPitch
2.1184120178223, --LShoulderPitch
0.48623609542847, --LShoulderRoll
-0.08134388923645, --LElbowYaw
-0.7684919834137, --LElbowRoll
-0.44481801986694, --LHipYawPitch
0.15804386138916, --LHipRoll
-1.078360080719, --LHipPitch
-0.093616008758545, --LKneePitch
0.81451201438904, --LAnklePitch
0.095149993896484, --LAnkleRoll
0, --RHipYawPitch
-0.27761197090149, --RHipRoll
-1.0477638244629, --RHipPitch
-0.093532085418701, --RKneePitch
0.93271398544312, --RAnklePitch
0.076741933822632, --RAnkleRoll
2.0694079399109, --RShoulderPitch
-0.39274597167969, --RShoulderRoll
-0.17338395118713, --RElbowYaw
0.56148600578308, --RElbowRoll
},
duration = .4;
},
{ --Pull legs in, put feet flat on the ground
angles = {
0.000, --HeadYaw
0.349, --HeadPitch
2.094, --LShoulderPitch
0.000, --LShoulderRoll
0.087, --LElbowYaw
0.000, --LElbowRoll
-0.663, --LHipYawPitch
0.541, --LHipRoll
-1.571, --LHipPitch
1.676, --LKneePitch
0.785, --LAnklePitch
0.000, --LAnkleRoll
-0.524, --RHipYawPitch
-0.541, --RHipRoll
-1.571, --RHipPitch
1.676, --RKneePitch
0.785, --RAnklePitch
0.000, --RAnkleRoll
2.094, --RShoulderPitch
0.000, --RShoulderRoll
-0.087, --RElbowYaw
0.000, --RElbowRoll
},
duration = 0.700;
},
{ --Lean back on right hand, lean right with body
angles = {
-0.009, --HeadYaw
0.332, --HeadPitch
0.698, --LShoulderPitch
1.047, --LShoulderRoll
0.087, --LElbowYaw
-0.489, --LElbowRoll
-0.489, --LHipYawPitch
0.157, --LHipRoll
-0.855, --LHipPitch
2.199, --LKneePitch
-0.559, --LAnklePitch
-0.384, --LAnkleRoll
-0.524, --RHipYawPitch
-0.559, --RHipRoll
-1.518, --RHipPitch
1.222, --RKneePitch
0.785, --RAnklePitch
0.009, --RAnkleRoll
2.094, --RShoulderPitch
-0.576, --RShoulderRoll
-0.080, --RElbowYaw
0.070, --RElbowRoll
},
duration = 0.700;
},
{ --Put weight on feet, bending forward and leaning right
angles = {
-0.010, --HeadYaw
0.332, --HeadPitch
0.733, --LShoulderPitch
0.506, --LShoulderRoll
0.087, --LElbowYaw
-0.820, --LElbowRoll
-0.873, --LHipYawPitch
-0.297, --LHipRoll
0.384, --LHipPitch
1.780, --LKneePitch
-1.222, --LAnklePitch
-0.105, --LAnkleRoll
-0.524, --RHipYawPitch
-0.559, --RHipRoll
-1.571, --RHipPitch
1.065, --RKneePitch
0.698, --RAnklePitch
-0.129, --RAnkleRoll
1.780, --RShoulderPitch
-0.262, --RShoulderRoll
-0.087, --RElbowYaw
0.052, --RElbowRoll
},
duration = 0.750;
},
{ --Lean onto left, slide right foot in
angles = {
-0.009, --HeadYaw
0.384, --HeadPitch
0.733, --LShoulderPitch
0.506, --LShoulderRoll
0.087, --LElbowYaw
-0.803, --LElbowRoll
-0.401, --LHipYawPitch
0.192, --LHipRoll
-0.855, --LHipPitch
2.199, --LKneePitch
-1.222, --LAnklePitch
0.122, --LAnkleRoll
-0.873, --RHipYawPitch
-0.297, --RHipRoll
-0.890, --RHipPitch
0.873, --RKneePitch
0.401, --RAnklePitch
0.681, --RAnkleRoll
0.890, --RSHoulderPitch
-0.873, --RShoulderRoll
0.000, --RElbowYaw
0.454, --RElbowRoll
},
duration = 1.050;
},
{ --Right foot under shoulder, still leaning a bit left
angles = {
-0.009, --HeadYaw
0.384, --HeadPitch
0.733, --LShoulderPitch
0.506, --LShoulderRoll
0.087, --LElbowYaw
-0.803, --LElbowRoll
-0.401, --LHipYawPitch
0.367, --LHipRoll
-0.838, --LHipPitch
2.199, --LKneePitch
-1.222, --LAnklePitch
0.087, --LAnkleRoll
-0.401, --RHipYawPitch
-0.017, --RHipRoll
-0.890, --RHipPitch
1.763, --RKneePitch
-0.471, --RAnklePitch
0.279, --RAnkleRoll
0.890, --RShoulderPitch
-0.681, --RShoulderRoll
0.000, --RElbowYaw
0.559, --RElbowRoll
},
duration = 1.050;
},
{ --Feet square under shoulders, arms curled in front; weight centered
angles = {
-0.009, --HeadYaw
0.384, --HeadPitch
1.710, --LShoulderPitch
0.209, --LShoulderRoll
-1.257, --LElbowYaw
-1.134, --LElbowRoll
0.000, --LHipYawPitch
0.000, --LHipRoll
-0.873, --LHipPitch
2.094, --LKneePitch
-1.222, --LanklePitch
0.000, --LAnkleRoll
-0.401, --RHipYawPitch
0.000, --RHipRoll
-0.873, --RHipPitch
2.094, --RKneePitch
-1.222, --RAnklePitch
0.000, --RAnkleRoll
1.710, --RShoulderPitch
-0.209, --RShoulderRoll
1.257, --RElbowYaw
1.134, --RElbowRoll
},
duration = 0.840;
},
{ --Head tilt back, begin standing up
angles = {
0.000, --HeadYaw
-0.436, --HeadPitch
2.094, --LShoulderPitch
0.349, --LShoulderRoll
-1.396, --LElbowYaw
-1.396, --LElbowRoll
0.000, --LHipYawPitch
0.017, --LHipRoll
-0.723, --LHipPitch
1.490, --LKneePitch
-0.767, --LAnklePitch
-0.017, --LAnkleRoll
-0.000, --RHipYawPitch
-0.017, --RHipRoll
-0.723, --RHipPitch
1.490, --RKneePitch
-0.767, --RAnklePitch
0.017, --RAnkleRoll
2.094, --RShoulderPitch
-0.349, --RShoulderRoll
1.396, --RElbowYaw
1.396, --RElbowRoll
},
duration = 1.050;
},
{ --Standing at full height; recovered
angles = {
-0.066, --HeadYaw
-0.678, --HeadPitch
1.468, --LShoulderPitch
0.229, --LShoulderRoll
-1.273, --LElbowYaw
-0.305, --LElbowRoll
0.000, --LHipYawPitch
-0.003, --LHipRoll
-0.396, --LHipPitch
0.946, --LKneePitch
-0.548, --LAnklePitch
0.002, --LAnkleRoll
0.000, --RHipYawPitch
0.026, --RHipRoll
-0.397, --RHipPitch
0.945, --RKneePitch
-0.548, --RAnklePitch
-0.025, --RAnkleRoll
1.494, --RShoulderPitch
-0.253, --RShoulderRoll
1.216, --RElbowYaw
0.502, --RElbowRoll
},
duration = 1.050;
},
};
return mot;