Getup¶
We fall over a lot, so we need to make sure the getup works reliably.
Instructions¶
Find the most inclined part of the field of the next game.
Stiffen (double-tap) and put the robot in the penalised state (double single-tap).
Edit the appropriate image/home/nao/data/pos/individualPoses/<robot>_getup<side><version>.pos
The main thing to note is the head pitch during the last part of the getup.
Here (getupBack) you can see the head pitch is changed to 31 degrees, to snap forward to help get the body up. Then the head pitch snaps back to 0 degrees, to stabilise the robot during standing. The stabilisation is the most important part of the calibration.
@@ -26,28 +30,28 @@ left hand to the side a little so it doesn't fall backwards or forwards, but not straight out or it falls to the left # HY HP LSP LSR LEY LER LWY LHYP LHR LHP LKP LAP LAR RHR RHP RKP RAP RAR RSP RSR REY RER RWY LH RH DUR -! 0 -10 106 10 0 0 0 -66 19 -45 120 -12 -10 -38 -70 24 54 3 120 -16 -30 9 0 0 0 200 +! 0 31 106 10 0 0 0 -66 19 -45 120 -12 -10 -38 -70 24 54 3 120 -16 -30 9 0 0 0 200 HY HP LSP LSR LEY LER LWY LHYP LHR LHP LKP LAP LAR RHR RHP RKP RAP RAR RSP RSR REY RER RWY LH RH DUR right leg half in -! 0 -10 106 10 0 0 0 -68 10 -14 120 -30 -21 -27 -86 40 58 1 120 -14 -30 9 0 0 0 200 +! 0 31 106 10 0 0 0 -68 10 -14 120 -30 -21 -27 -86 40 58 1 120 -14 -30 9 0 0 0 200 -! 0 -10 106 10 0 0 0 -64 12 -16 120 -53 -11 -26 -70 42 53 1 120 -14 -30 9 0 0 0 200 +! 0 0 106 10 0 0 0 -64 12 -16 120 -53 -11 -26 -70 42 53 1 120 -14 -30 9 0 0 0 200 -! 0 -10 106 10 0 0 0 -60 23 -40 120 -61 -8 -24 -30 47 41 3 120 -14 -30 9 0 0 0 200 +! 0 0 106 10 0 0 0 -60 23 -40 120 -61 -8 -24 -30 47 41 3 120 -14 -30 9 0 0 0 200 shift body to left - the 3 lines here are the most unstable, be careful -! 0 -10 106 10 0 0 0 -59 24 -22 120 -68 -4 -25 -28 40 30 11 120 -16 -30 9 0 0 0 200 +! 0 0 106 10 0 0 0 -59 24 -22 120 -68 -4 -25 -28 40 30 11 120 -16 -30 9 0 0 0 200 right leg more in -! 0 -10 106 10 0 0 0 -57 24 -30 120 -68 0 -7 -32 82 -2 20 120 -16 -30 9 0 0 0 300 +! 0 0 106 10 0 0 0 -57 24 -30 120 -68 0 -7 -32 82 -2 20 120 -16 -30 9 0 0 0 300 sit $ 1 1 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 -! 0 -10 106 10 0 0 0 0 0 -51 121 -68 0 0 -51 122 -69 5 71 -1 34 47 -53 0 0 400 +! 0 0 106 10 0 0 0 0 0 -51 121 -68 0 0 -51 122 -69 5 71 -1 34 47 -53 0 0 400 stabilise in sitting position $ 1 1 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 -! 0 -10 106 10 0 0 0 0 0 -51 121 -68 0 0 -51 122 -69 0 71 -1 34 47 -53 0 0 300 +! 0 0 106 10 0 0 0 0 0 -51 121 -68 0 0 -51 122 -69 0 71 -1 34 47 -53 0 0 300 stand $ 1 1 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 -! 0 -10 106 10 0 0 0 0 0 -21 49 -28 0 0 -21 49 -28 0 91 -10 90 8 90 0 0 400 +! 0 0 106 10 0 0 0 0 0 -21 49 -28 0 0 -21 49 -28 0 91 -10 90 8 90 0 0 400
Here (getupFront) you can see the head pitch is changed to -20 degrees, to snap further back, to stabilise the robot during standing. The stabilisation is the most important part of the calibration.
@@ -31,22 +31,22 @@ HY HP LSP LSR LEY LER LWY LHYP LHR LHP LKP LAP LAR RHR RHP RKP RAP RAR RSP RSR REY RER RWY LH RH DUR right leg half in ! 0 29 50 45 19 -18 0 -68 10 -14 120 -44 -19 -27 -86 40 58 1 120 -16 -30 9 0 0 0 100 -! 0 -10 50 43 19 -18 0 -64 12 -16 120 -44 -19 -26 -70 42 53 1 120 -16 -30 9 0 0 0 100 +! 0 -20 50 43 19 -18 0 -64 12 -16 120 -44 -19 -26 -70 42 53 1 120 -16 -30 9 0 0 0 100 -! 0 -10 50 41 19 -18 0 -60 23 -13 120 -44 -19 -24 -57 47 41 3 120 -16 -30 9 0 0 0 100 +! 0 -20 50 41 19 -18 0 -60 23 -13 120 -44 -19 -24 -57 47 41 3 120 -16 -30 9 0 0 0 100 shift body to left - the 3 lines here are the most unstable, becareful -! 0 -10 50 40 19 -18 0 -59 24 -23 120 -68 -4 -25 -32 40 34 11 117 -16 -30 9 0 0 0 100 +! 0 -20 50 40 19 -18 0 -59 24 -23 120 -68 -4 -25 -32 40 34 11 117 -16 -30 9 0 0 0 100 right leg more in -! 0 -10 60 33 16 -16 0 -57 24 -26 120 -68 -7 -7 -33 82 -2 7 110 -16 -30 9 0 0 0 300 +! 0 -20 60 33 16 -16 0 -57 24 -26 120 -68 -7 -7 -33 82 -2 7 110 -16 -30 9 0 0 0 300 both leg in, body straight -! 0 -10 70 25 12 -12 0 -51 26 -15 120 -68 -7 -20 -15 120 -67 7 100 -16 -30 9 0 0 0 400 +! 0 -20 70 25 12 -12 0 -51 26 -15 120 -68 -7 -20 -15 120 -67 7 100 -16 -30 9 0 0 0 400 -! 0 -10 70 25 12 -12 0 -51 26 -15 120 -68 -7 -20 -15 120 -67 7 100 -16 -30 9 0 0 0 100 +! 0 -20 70 25 12 -12 0 -51 26 -15 120 -68 -7 -20 -15 120 -67 7 100 -16 -30 9 0 0 0 100 squat with both legs closed -! 0 -10 77 25 8 -8 0 0 0 -50 120 -68 0 -0 -50 120 -68 0 90 -16 -30 9 0 0 0 400 +! 0 -20 77 25 8 -8 0 0 0 -50 120 -68 0 -0 -50 120 -68 0 90 -16 -30 9 0 0 0 400 stand -! 0 -10 84 18 4 -4 0 0 0 -39 85 -47 0 0 -39 85 -47 0 90 -13 -15 0 0 0 0 400 +! 0 -20 84 18 4 -4 0 0 0 -39 85 -47 0 0 -39 85 -47 0 90 -13 -15 0 0 0 0 400 -! 0 -10 90 10 0 0 0 0 0 -28 50 -25 0 0 -28 50 -25 0 90 -10 0 0 0 0 0 400 +! 0 -20 90 10 0 0 0 0 0 -28 50 -25 0 0 -28 50 -25 0 90 -10 0 0 0 0 0 400