skills

Skills

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Files for defining skills represented as a series of fixed frame poses. Skill files contain a series of commands and values that are executed by the SkillParser. Values can be parameterized and loaded at runtime when entered as $<parameter_name>.

To add a new skill to an agent the skill's skill file should be loaded in by calling readSkillsFromFile() in NaoBehavior::NaoBehavior(). The skill should also be added to enum SkillType in headers/headers.h and to EnumParser<SkillType> in headers/headers.cc.

Skill files are in the following format:

Begin and name skill

STARTSKILL <name_of_skill>

Begin a frame

STARTSTATE

Set the target joint angle in degrees

settar <joint> <target_angle> [<joint> <target_angle>]* end

Increase the target joint angle in degrees of joints

inctar <joint> <amount_to_increase_angle> [<joint> <amount_to_increase_angle>]* end

Set scale (proportional controller value for joints)

setscale <joint> <scale> [<joint> <scale>]* end

Reset joints to default positions

reset <joint> [joint]* end

Shift center of mass over given foot to ZMP value if possible

stabilize <LEG_LEFT | LEG_RIGHT> <x_zmp_value> <y_zmp_value>

Move the foot to a preset location w.r.t. the ball in meters and degrees

setfoot <LEG_LEFT | LEG_RIGHT> <xoffset> <yoffset> <zoffset> <role> <pitch> <yaw> end

Move the foot through a path of points relative to the ball marked by controlpoints

STARTCURVE <LEG_LEFT | LEG_RIGHT> controlpoint <xoffset> <yoffset> <zoffset> <role> <pitch> <yaw> end [controlpoint <xoffset> <yoffset> <zoffset> <role> <pitch> <yaw> end]* ENDCURVE

Amount of time to wait in seconds before moving to next frame

wait <time> end

End a frame

ENDSTATE

End a skill description

ENDSKILL

Reflect skill across left-right axis to create another skill

REFLECTSKILL <name_of_skill_to_reflect> <reflected_skill_name>