pavel/kick-it
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added fast kick

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Jonas
2018-06-24 12:56:36 +02:00
parent 9941ca5778
commit d28951fd7c
1 changed files with 7 additions and 21 deletions
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28
pykick/movements.py
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@@ -6,35 +6,21 @@ from naoqi import ALProxy
class NaoMover(object):
# fancy kick
KICK_SEQUENCE = [
# base_or_kicking, unsymmetric, joint, angle
# lift the arm
[[(0, 1, 'ShoulderRoll', -70)], 0.5],
# lean to the side using the ankle joints
[[(0, 1, 'AnkleRoll', -10),
(1, 1, 'AnkleRoll', -10)],
1],
[[(0, 1, 'ShoulderRoll', -70),(0 , 1, 'AnkleRoll', -9),(1 , 1 , 'AnkleRoll', -9)], 0.3],
# lift the foot using the knee joint and the ankle joint
[[(1, 0, 'KneePitch', 90),
(1, 0, 'AnklePitch', -40)],
0.7,],
# perform the fast kick
[[(1,0, 'HipPitch',-45),(1,0, 'AnklePitch',10),(1,0, 'KneePitch',10)],0.15],
# bring knee back for better kick recovery
[[(1,0, 'KneePitch',40)],0.2],
# kick-it!
[[(1, 0, 'HipPitch', -45),
(1, 0, 'KneePitch', 10),
(1, 0, 'AnklePitch', 0)],
0.3],
# prepare to return into standing position
[[(1, 0, 'KneePitch', 40),
(1, 0, 'AnklePitch', 10)],
1,],
]
def __init__(self, nao_ip, nao_port=9559):
nao_ip = bytes(nao_ip)
self.mp = ALProxy('ALMotion', nao_ip, nao_port)