pavel/kick-it
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changed kick

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Jonas
2018-06-15 11:43:28 +02:00
parent 5ac24aeb35
commit 0a96fed82e
2 changed files with 12 additions and 5 deletions
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15
pykick/kick.py
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@@ -20,12 +20,19 @@ def main(robotIP, PORT=9559):
time.sleep(3) time.sleep(3)
fractionMaxSpeed = 0.01 fractionMaxSpeed = 0.05
motionProxy.setStiffnesses("RAnkleRoll",0.9) motionProxy.setStiffnesses("RAnkleRoll",0.9)
names=["LHipRoll","RHipRoll","LHipPitch","RAnkleRoll"] names=["LHipRoll","RHipRoll","LHipPitch","RAnkleRoll","LAnklePitch"]
angles=[radians(-10),radians(-10),radians(-15),radians(-5)] angles=[radians(-5),radians(-5),radians(-15),radians(-5),radians(0)]
motionProxy.setAngles(names, angles, fractionMaxSpeed) motionProxy.setAngles(names, angles, fractionMaxSpeed)
time.sleep(0.5)
names=["LAnklePitch"]
angles=[radians(-20)]
motionProxy.setAngles(names,angles,fractionMaxSpeed)
'''
#motionProxy.waitUntilMoveIsFinished() #motionProxy.waitUntilMoveIsFinished()
time.sleep(6) time.sleep(6)
@@ -34,7 +41,7 @@ def main(robotIP, PORT=9559):
angles=[radians(45),radians(-50),radians(-45)] angles=[radians(45),radians(-50),radians(-45)]
motionProxy.setAngles(names, angles, fractionMaxSpeed) motionProxy.setAngles(names, angles, fractionMaxSpeed)
'''
#time.sleep(3.0) #time.sleep(3.0)
#motionProxy.setStiffnesses("Head", 0.0) #motionProxy.setStiffnesses("Head", 0.0)