work on kick

pykick/kick.py

@@ -0,0 +1,53 @@
+import time
+import argparse
+from naoqi import ALProxy
+from math import radians
+
+
+def main(robotIP, PORT=9559):
+    motionProxy = ALProxy("ALMotion", robotIP, PORT)
+
+    motionProxy.setStiffnesses("Head", 1.0)
+    motionProxy.setStiffnesses("LShoulderRoll",0.9)
+    motionProxy.setStiffnesses("LHipPitch",0.9)
+    # Example showing how to set angles, using a fraction of max speed
+    #names  = ["HeadYaw", "HeadPitch"]
+    #angles  = [0.2, -0.2]
+    fractionMaxSpeed = 0.5
+    names=["RShoulderRoll","RElbowRoll"]
+    angles=[radians(-76),0]
+    motionProxy.setAngles(names,angles,fractionMaxSpeed)
+
+    time.sleep(3)
+
+    fractionMaxSpeed  = 0.01
+    motionProxy.setStiffnesses("RAnkleRoll",0.9)
+    names=["LHipRoll","RHipRoll","LHipPitch","RAnkleRoll"]
+    angles=[radians(-10),radians(-10),radians(-15),radians(-5)]
+    motionProxy.setAngles(names, angles, fractionMaxSpeed)
+
+    #motionProxy.waitUntilMoveIsFinished()
+    time.sleep(6)
+    
+    motionProxy.setStiffnesses("RAnklePitch",0.9)
+    names=["RKneePitch","RHipPitch","LAnklePitch"]
+    angles=[radians(45),radians(-50),radians(-45)]
+
+    motionProxy.setAngles(names, angles, fractionMaxSpeed)
+    
+    
+    #time.sleep(3.0)
+    #motionProxy.setStiffnesses("Head", 0.0)
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--ip", type=str, default="192.168.0.11",
+                        help="Robot ip address")
+    parser.add_argument("--port", type=int, default=9559,
+                        help="Robot port number")
+
+    args = parser.parse_args()
+
+    main(args.ip, args.port)
+