pavel/kick-it
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changed kick.py

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Jonas
2018-06-15 12:35:34 +02:00
parent f497292fe2
commit 64b0da5170
1 changed files with 14 additions and 2 deletions
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16
pykick/kick.py
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@@ -23,15 +23,27 @@ def main(robotIP, PORT=9559):
fractionMaxSpeed = 0.05 fractionMaxSpeed = 0.05
motionProxy.setStiffnesses("RAnkleRoll",0.9) motionProxy.setStiffnesses("RAnkleRoll",0.9)
names=["LHipRoll","RHipRoll","LHipPitch","RAnkleRoll","LAnklePitch"] names=["LHipRoll","RHipRoll","LHipPitch","RAnkleRoll","LAnklePitch"]
angles=[radians(-10),radians(-10),radians(-15),radians(-5),radians(0)] angles=[radians(-13),radians(-13),radians(-15),radians(-5),radians(0)]
motionProxy.setAngles(names, angles, fractionMaxSpeed) motionProxy.setAngles(names, angles, fractionMaxSpeed)
"""
time.sleep(3)
names=["LShoulderRoll",
"""
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")
names=["LKneePitch","LAnklePitch"]
angles=[radians(10),radians(0)]
motionProxy.setAngles(names,angles,fractionMaxSpeed)
''' '''
#motionProxy.waitUntilMoveIsFinished() #motionProxy.waitUntilMoveIsFinished()
time.sleep(6) time.sleep(6)