pavel/kick-it
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Improved kick movement with angleInterpolation

Browse Source
This commit is contained in:
Pavel Lutskov
2018-06-24 12:33:55 +02:00
parent 0e84a98abe
commit 9941ca5778
1 changed files with 20 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

38
pykick/movements.py
View File

@@ -8,30 +8,30 @@ class NaoMover(object):
# fancy kick
KICK_SEQUENCE = [
# base_or_kicking, unsymmetric, joint, angle, speed
# base_or_kicking, unsymmetric, joint, angle
# lift the arm
[[(0, 1, 'ShoulderRoll', -70, 0.4)], 1],
[[(0, 1, 'ShoulderRoll', -70)], 0.5],
# lean to the side using the ankle joints
[[(0, 1, 'AnkleRoll', -9, 0.2),
(1, 1, 'AnkleRoll', -9, 0.2)],
[[(0, 1, 'AnkleRoll', -10),
(1, 1, 'AnkleRoll', -10)],
1],
# lift the foot using the knee joint and the ankle joint
[[(1, 0, 'KneePitch', 90, 0.3),
(1, 0, 'AnklePitch', -40, 0.4)],
1.5,],
[[(1, 0, 'KneePitch', 90),
(1, 0, 'AnklePitch', -40)],
0.7,],
# kick-it!
[[(1, 0, 'HipPitch', -45, 0.05),
(1, 0, 'KneePitch', 10, 0.8),
(1, 0, 'AnklePitch', 20, 0.7)],
1],
[[(1, 0, 'HipPitch', -45),
(1, 0, 'KneePitch', 10),
(1, 0, 'AnklePitch', 0)],
0.3],
# prepare to return into standing position
[[(1, 0, 'KneePitch', 40, 0.25),
(1, 0, 'AnklePitch', 10, 0.25)],
[[(1, 0, 'KneePitch', 40),
(1, 0, 'AnklePitch', 10)],
1,],
]
@@ -60,15 +60,17 @@ class NaoMover(object):
elif foot == 'R':
sides = ['L', 'R']
for motion, wait in self.KICK_SEQUENCE:
joints = []
angles = []
for part in motion:
print(part)
side, unsymmetric, joint, angle, speed = part
side, unsymmetric, joint, angle = part
if foot == 'R' and unsymmetric:
angle *= -1
self.mp.setAngles(
[sides[side] + joint], [radians(angle)], speed
)
sleep(wait)
joints.append(sides[side] + joint)
angles.append(radians(angle))
self.mp.angleInterpolation(joints, angles, wait, True)
# sleep(wait)
self.stand_up(0.5)
self.set_arm_stiffness()