forked from DAInamite/programming-humanoid-robot-in-python
-
Notifications
You must be signed in to change notification settings - Fork 0
/
hello.py
65 lines (48 loc) · 6.04 KB
/
hello.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
def hello():
# Choregraphe bezier export in Python.
names = list()
times = list()
keys = list()
names.append("HeadPitch")
times.append([0.80000, 1.56000, 2.24000, 2.80000, 3.48000, 4.60000])
keys.append([[0.29602, [3, -0.26667, 0.00000], [3, 0.25333, 0.00000]], [-0.17032, [3, -0.25333, 0.11200], [3, 0.22667, -0.10021]], [-0.34059, [3, -0.22667, 0.00000], [3, 0.18667, 0.00000]], [-0.05987, [3, -0.18667, 0.00000], [3, 0.22667, 0.00000]], [-0.19333, [3, -0.22667, 0.00000], [3, 0.37333, 0.00000]], [-0.01078, [3, -0.37333, 0.00000], [3, 0.00000, 0.00000]]])
names.append("HeadYaw")
times.append([0.80000, 1.56000, 2.24000, 2.80000, 3.48000, 4.60000])
keys.append([[-0.13503, [3, -0.26667, 0.00000], [3, 0.25333, 0.00000]], [-0.35133, [3, -0.25333, 0.04939], [3, 0.22667, -0.04419]], [-0.41576, [3, -0.22667, 0.00372], [3, 0.18667, -0.00307]], [-0.41882, [3, -0.18667, 0.00307], [3, 0.22667, -0.00372]], [-0.52007, [3, -0.22667, 0.00000], [3, 0.37333, 0.00000]], [-0.37587, [3, -0.37333, 0.00000], [3, 0.00000, 0.00000]]])
names.append("LElbowRoll")
times.append([0.72000, 1.48000, 2.16000, 2.72000, 3.40000, 4.52000])
keys.append([[-1.37902, [3, -0.24000, 0.00000], [3, 0.25333, 0.00000]], [-1.29005, [3, -0.25333, -0.03454], [3, 0.22667, 0.03091]], [-1.18267, [3, -0.22667, 0.00000], [3, 0.18667, 0.00000]], [-1.24863, [3, -0.18667, 0.02055], [3, 0.22667, -0.02496]], [-1.31920, [3, -0.22667, 0.00000], [3, 0.37333, 0.00000]], [-1.18421, [3, -0.37333, 0.00000], [3, 0.00000, 0.00000]]])
names.append("LElbowYaw")
times.append([0.72000, 1.48000, 2.16000, 2.72000, 3.40000, 4.52000])
keys.append([[-0.80386, [3, -0.24000, 0.00000], [3, 0.25333, 0.00000]], [-0.69188, [3, -0.25333, -0.01372], [3, 0.22667, 0.01227]], [-0.67960, [3, -0.22667, -0.01227], [3, 0.18667, 0.01011]], [-0.61057, [3, -0.18667, 0.00000], [3, 0.22667, 0.00000]], [-0.75324, [3, -0.22667, 0.00000], [3, 0.37333, 0.00000]], [-0.67040, [3, -0.37333, 0.00000], [3, 0.00000, 0.00000]]])
names.append("LHand")
times.append([1.48000, 4.52000])
keys.append([[0.00416, [3, -0.49333, 0.00000], [3, 1.01333, 0.00000]], [0.00419, [3, -1.01333, 0.00000], [3, 0.00000, 0.00000]]])
names.append("LShoulderPitch")
times.append([0.72000, 1.48000, 2.16000, 2.72000, 3.40000, 4.52000])
keys.append([[1.11824, [3, -0.24000, 0.00000], [3, 0.25333, 0.00000]], [0.92803, [3, -0.25333, 0.00000], [3, 0.22667, 0.00000]], [0.94030, [3, -0.22667, 0.00000], [3, 0.18667, 0.00000]], [0.86207, [3, -0.18667, 0.00000], [3, 0.22667, 0.00000]], [0.89735, [3, -0.22667, 0.00000], [3, 0.37333, 0.00000]], [0.84212, [3, -0.37333, 0.00000], [3, 0.00000, 0.00000]]])
names.append("LShoulderRoll")
times.append([0.72000, 1.48000, 2.16000, 2.72000, 3.40000, 4.52000])
keys.append([[0.36352, [3, -0.24000, 0.00000], [3, 0.25333, 0.00000]], [0.22699, [3, -0.25333, 0.02572], [3, 0.22667, -0.02301]], [0.20398, [3, -0.22667, 0.00000], [3, 0.18667, 0.00000]], [0.21779, [3, -0.18667, -0.00670], [3, 0.22667, 0.00813]], [0.24847, [3, -0.22667, 0.00000], [3, 0.37333, 0.00000]], [0.22699, [3, -0.37333, 0.00000], [3, 0.00000, 0.00000]]])
names.append("LWristYaw")
times.append([1.48000, 4.52000])
keys.append([[0.14722, [3, -0.49333, 0.00000], [3, 1.01333, 0.00000]], [0.11961, [3, -1.01333, 0.00000], [3, 0.00000, 0.00000]]])
names.append("RElbowRoll")
times.append([0.64000, 1.40000, 1.68000, 2.08000, 2.40000, 2.64000, 3.04000, 3.32000, 3.72000, 4.44000])
keys.append([[1.38524, [3, -0.21333, 0.00000], [3, 0.25333, 0.00000]], [0.24241, [3, -0.25333, 0.00000], [3, 0.09333, 0.00000]], [0.34907, [3, -0.09333, -0.09496], [3, 0.13333, 0.13565]], [0.93425, [3, -0.13333, 0.00000], [3, 0.10667, 0.00000]], [0.68068, [3, -0.10667, 0.14138], [3, 0.08000, -0.10604]], [0.19199, [3, -0.08000, 0.00000], [3, 0.13333, 0.00000]], [0.26180, [3, -0.13333, -0.06981], [3, 0.09333, 0.04887]], [0.70722, [3, -0.09333, -0.10397], [3, 0.13333, 0.14852]], [1.01927, [3, -0.13333, -0.06647], [3, 0.24000, 0.11965]], [1.26559, [3, -0.24000, 0.00000], [3, 0.00000, 0.00000]]])
names.append("RElbowYaw")
times.append([0.64000, 1.40000, 2.08000, 2.64000, 3.32000, 3.72000, 4.44000])
keys.append([[-0.31298, [3, -0.21333, 0.00000], [3, 0.25333, 0.00000]], [0.56447, [3, -0.25333, 0.00000], [3, 0.22667, 0.00000]], [0.39113, [3, -0.22667, 0.03954], [3, 0.18667, -0.03256]], [0.34818, [3, -0.18667, 0.00000], [3, 0.22667, 0.00000]], [0.38192, [3, -0.22667, -0.03375], [3, 0.13333, 0.01985]], [0.97738, [3, -0.13333, 0.00000], [3, 0.24000, 0.00000]], [0.82678, [3, -0.24000, 0.00000], [3, 0.00000, 0.00000]]])
names.append("RHand")
times.append([1.40000, 3.32000, 4.44000])
keys.append([[0.01490, [3, -0.46667, 0.00000], [3, 0.64000, 0.00000]], [0.01492, [3, -0.64000, 0.00000], [3, 0.37333, 0.00000]], [0.00742, [3, -0.37333, 0.00000], [3, 0.00000, 0.00000]]])
names.append("RShoulderPitch")
times.append([0.64000, 1.40000, 2.08000, 2.64000, 3.32000, 4.44000])
keys.append([[0.24702, [3, -0.21333, 0.00000], [3, 0.25333, 0.00000]], [-1.17193, [3, -0.25333, 0.00000], [3, 0.22667, 0.00000]], [-1.08910, [3, -0.22667, 0.00000], [3, 0.18667, 0.00000]], [-1.26091, [3, -0.18667, 0.00000], [3, 0.22667, 0.00000]], [-1.14892, [3, -0.22667, -0.11198], [3, 0.37333, 0.18444]], [1.02015, [3, -0.37333, 0.00000], [3, 0.00000, 0.00000]]])
names.append("RShoulderRoll")
times.append([0.64000, 1.40000, 2.08000, 2.64000, 3.32000, 4.44000])
keys.append([[-0.24241, [3, -0.21333, 0.00000], [3, 0.25333, 0.00000]], [-0.95419, [3, -0.25333, 0.00000], [3, 0.22667, 0.00000]], [-0.46024, [3, -0.22667, 0.00000], [3, 0.18667, 0.00000]], [-0.96033, [3, -0.18667, 0.00000], [3, 0.22667, 0.00000]], [-0.32832, [3, -0.22667, -0.04750], [3, 0.37333, 0.07823]], [-0.25008, [3, -0.37333, 0.00000], [3, 0.00000, 0.00000]]])
names.append("RWristYaw")
times.append([1.40000, 3.32000, 4.44000])
keys.append([[-0.31298, [3, -0.46667, 0.00000], [3, 0.64000, 0.00000]], [-0.30377, [3, -0.64000, -0.00920], [3, 0.37333, 0.00537]], [0.18250, [3, -0.37333, 0.00000], [3, 0.00000, 0.00000]]])
return names, times, keys