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kick balance only with feed

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Jonas
2018-06-15 12:53:46 +02:00
parent 64b0da5170
commit 444f025164
1 changed files with 23 additions and 15 deletions
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36
pykick/kick.py
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@@ -14,35 +14,43 @@ def main(robotIP, PORT=9559):
#names = ["HeadYaw", "HeadPitch"] #names = ["HeadYaw", "HeadPitch"]
#angles = [0.2, -0.2] #angles = [0.2, -0.2]
fractionMaxSpeed = 0.5 fractionMaxSpeed = 0.5
names=["RShoulderRoll","RElbowRoll"] names=["RShoulderRoll","LShoulderRoll"]
angles=[radians(-76),0] angles=[radians(-76),radians(76)]
motionProxy.setAngles(names,angles,fractionMaxSpeed) motionProxy.setAngles(names,angles,fractionMaxSpeed)
time.sleep(3) time.sleep(3)
fractionMaxSpeed = 0.05 fractionMaxSpeed = 0.01
motionProxy.setStiffnesses("RAnkleRoll",0.9) motionProxy.setStiffnesses("RAnkleRoll",0.9)
names=["LHipRoll","RHipRoll","LHipPitch","RAnkleRoll","LAnklePitch"] #names=["LHipRoll","RHipRoll","RAnkleRoll","LAnkleRoll"]
angles=[radians(-13),radians(-13),radians(-15),radians(-5),radians(0)] names=["RAnkleRoll","LAnkleRoll"]
#names=["LHipRoll","RHipRoll","LHipPitch","RAnkleRoll","LAnklePitch"]
angles=[radians(-10),radians(-10)]
# angles=[radians(-20),radians(-20),radians(-10),radians(-10)]
# angles=[radians(-20),radians(-20),radians(-15),radians(-5),radians(0)]
motionProxy.setAngles(names, angles, fractionMaxSpeed) motionProxy.setAngles(names, angles, fractionMaxSpeed)
""" '''
time.sleep(3) time.sleep(3)
names=["LShoulderRoll", names=["LShoulderRoll"]
angles=[radians(76)]
""" motionProxy.setAngles(names,angles,fractionMaxSpeed)
'''
'''
time.sleep(0.5) time.sleep(0.5)
names=["LAnklePitch"] names=["LAnklePitch"]
angles=[radians(-20)] angles=[radians(-20)]
motionProxy.setAngles(names,angles,fractionMaxSpeed) motionProxy.setAngles(names,angles,fractionMaxSpeed)
'''
time.sleep(4)
print("kick") # time.sleep(4)
names=["LKneePitch","LAnklePitch"] # print("kick")
angles=[radians(10),radians(0)] # names=["LKneePitch","LAnklePitch"]
motionProxy.setAngles(names,angles,fractionMaxSpeed) # angles=[radians(10),radians(0)]
# motionProxy.setAngles(names,angles,fractionMaxSpeed)
''' '''
#motionProxy.waitUntilMoveIsFinished() #motionProxy.waitUntilMoveIsFinished()