Motion Symbols

Symbols for the setting the motion request.

The formalized behavior references a variety of input and output symbols, which can stand for variables or functions of the agent's software. Constants are constant decimal values.

Enumerations

Name	Elements	Internal	Description
motion.type	motion.type.stand motion.type.walk motion.type.special_action motion.type.getup motion.type.play_dead motion.type.wake_up		The motion type ids
motion.walk_type	motion.walk_type.normal motion.walk_type.walk_with_ball motion.walk_type.boost		The walk type ids
motion.special_action	motion.special_action.block motion.special_action.block_left motion.special_action.cheer_happy1 motion.special_action.cheer_happy2 motion.special_action.cheer_happy3 motion.special_action.cheer_head_stand motion.special_action.cheer_sad1 motion.special_action.cheer_sad2 motion.special_action.cheer_sad3 motion.special_action.ddd_hard_grab_kick motion.special_action.ddd_head_bash motion.special_action.ddd_tackle_shot_left motion.special_action.forward_kick_fast motion.special_action.head_left motion.special_action.hook_left motion.special_action.left_paw motion.special_action.roll_over_neck_left motion.special_action.swing motion.special_action.wipe_left motion.special_action.wipe_left_hard		The special action ids

Input Symbols

Name	Type	Measure	Description / Parameters
executed_motion.type	enumerated	motion.type	The currently executed motion type.

executed_motion.walk_type	enumerated	motion.walk_type	The currently executed walk type.

executed_motion.walk_speed.x	decimal	mm/s	The currently executed walk speed in x direction.

executed_motion.walk_speed.y	decimal	mm/s	The currently executed walk speed in y direction.

executed_motion.walk_speed.rot	decimal	deg/s	The currently executed rotational walk speed.

executed_motion.special_action	enumerated	motion.special_action	The currently executed special action.

executed_motion.special_action.mirror	boolean	true/ false	Whether the currently executed special action is mirrored.

Output Symbols

Name	Type	Measure	Internal	Description
motion.type	enumerated	motion.type		The currently requested motion type.
motion.walk_type	enumerated	motion.walk_type		The currently requested walk type.
motion.walk_speed.x	decimal	mm/s		The currently requested walk speed in x direction.
motion.walk_speed.y	decimal	mm/s		The currently requested walk speed in y direction.
motion.walk_speed.rot	decimal	deg/s		The currently requested rotational walk speed.
motion.special_action	enumerated	motion.special_action		The currently requested special action.
motion.special_action.mirror	boolean	true/ false		Whether the currently requested special action should be mirrored.