pavel/kick-it
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this kick works quite already good

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Jonas
2018-06-15 16:05:26 +02:00
parent f55a909867
commit d88d4f0bc9
2 changed files with 3 additions and 2 deletions
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1
pykick/kick.py
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@@ -7,3 +7,4 @@ if __name__ == "__main__":
mover = NaoMover(cfg['ip']) mover = NaoMover(cfg['ip'])
mover.stand_up() mover.stand_up()
mover.kick(foot="R") mover.kick(foot="R")
mover.stand_up()

4
pykick/movements.py
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@@ -7,7 +7,7 @@ from naoqi import ALProxy
class NaoMover(object): class NaoMover(object):
KICK_SEQUENCE = [ KICK_SEQUENCE = [
(0, 'ShoulderRoll', 45, 0.0125), (0, 'ShoulderRoll', 45, 0.025),
#'wait', #'wait',
(0, 'AnkleRoll', 10, 0.05), (0, 'AnkleRoll', 10, 0.05),
(1, 'AnkleRoll', 10, 0.05), (1, 'AnkleRoll', 10, 0.05),
@@ -40,7 +40,7 @@ class NaoMover(object):
self.set_hip_stiffness(0.8) self.set_hip_stiffness(0.8)
self.set_knee_stiffness(0.8) self.set_knee_stiffness(0.8)
self.set_ankle_stiffness(0.8) self.set_ankle_stiffness(0.8)
multiplier = 5 multiplier = 4
if foot == 'L': if foot == 'L':
sides = ['R', 'L'] sides = ['R', 'L']
elif foot == 'R': elif foot == 'R':