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Improved ball following

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1. Made copyfiles a little saner
2. Implemented ball search when not in field of view
This commit is contained in:
Pavel Lutskov
2018-06-04 15:23:41 +02:00
parent 6aefab5694
commit 5035329de7
4 changed files with 55 additions and 61 deletions
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8
scripts/movements.py
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@@ -29,7 +29,7 @@ class NaoMover(object):
self.mp.rest()
self.ready_to_move = False
def set_head_stiffness(self, stiffness=0.8):
def set_head_stiffness(self, stiffness=0.5):
self.mp.setStiffnesses("Head", stiffness)
def set_hand_stiffness(self, stiffness=0.0):
@@ -48,7 +48,7 @@ class NaoMover(object):
self.mp.setStiffnesses("RElbowRoll", stiffness)
self.mp.setStiffnesses("RElbowYaw", stiffness)
def set_hip_stiffness(self, stiffness=0.9):
def set_hip_stiffness(self, stiffness=0.6):
self.mp.setStiffnesses("LHipYawPitch", stiffness)
self.mp.setStiffnesses("LHipPitch", stiffness)
self.mp.setStiffnesses("RHipYawPitch", stiffness)
@@ -56,13 +56,13 @@ class NaoMover(object):
self.mp.setStiffnesses("LHipRoll", stiffness)
self.mp.setStiffnesses("RHipRoll", stiffness)
def set_ankle_stiffness(self, stiffness=0.9):
def set_ankle_stiffness(self, stiffness=0.6):
self.mp.setStiffnesses("LAnklePitch", stiffness)
self.mp.setStiffnesses("LAnkleRoll", stiffness)
self.mp.setStiffnesses("RAnklePitch", stiffness)
self.mp.setStiffnesses("RAnkleRoll", stiffness)
def set_knee_stiffness(self, stiffness=0.9):
def set_knee_stiffness(self, stiffness=0.6):
self.mp.setStiffnesses("LKneePitch", stiffness)
self.mp.setStiffnesses("RKneePitch", stiffness)