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Merge branch 'master' of gitlab.lrz.de:robocupss18-blue3/kick-it

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Jonas
2018-05-31 11:16:19 +02:00
parent fe2db524bb ff7f90b719
commit df043ccbc0
1 changed files with 41 additions and 26 deletions
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67
scripts/motion_setter.py
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@@ -19,35 +19,50 @@ def main(robotIP, PORT,rest):
AutonomousLifeProxy.setState("disabled") AutonomousLifeProxy.setState("disabled")
# Wake up robot # Wake up robot
motionProxy.wakeUp() # motionProxy.wakeUp()
# stiffnessses
# hand and wrist
handStiffness = 0.0;
# shoulder and elbow
armStiffness = 0.0;
# head
headStiffness = 0.9;
# hip
hipStiffness = 0.9;
# knee
kneeStiffness = 0.9;
# ankle
ankleStiffness = 0.9;
# set the stiffnes # set the stiffnes
motionProxy.setStiffnesses("Head", 1.0) motionProxy.setStiffnesses("Head", headStiffness)
motionProxy.setStiffnesses("RHand", 1.0) motionProxy.setStiffnesses("RHand", handStiffness)
motionProxy.setStiffnesses("LHand", 1.0) motionProxy.setStiffnesses("LHand", handStiffness)
motionProxy.setStiffnesses("LShoulderPitch", 1.0) motionProxy.setStiffnesses("LShoulderPitch", armStiffness)
motionProxy.setStiffnesses("LShoulderRoll", 1.0) motionProxy.setStiffnesses("LShoulderRoll", armStiffness)
motionProxy.setStiffnesses("LElbowRoll", 1.0) motionProxy.setStiffnesses("LElbowRoll", armStiffness)
motionProxy.setStiffnesses("LWristYaw", 1.0) motionProxy.setStiffnesses("LWristYaw", handStiffness)
motionProxy.setStiffnesses("LElbowYaw", 1.0) motionProxy.setStiffnesses("LElbowYaw", armStiffness)
motionProxy.setStiffnesses("LHipYawPitch", 1.0) motionProxy.setStiffnesses("LHipYawPitch", hipStiffness)
motionProxy.setStiffnesses("LHipPitch", 1.0) motionProxy.setStiffnesses("LHipPitch", hipStiffness)
motionProxy.setStiffnesses("LKneePitch", 1.0) motionProxy.setStiffnesses("LKneePitch", kneeStiffness)
motionProxy.setStiffnesses("LAnklePitch", 1.0) motionProxy.setStiffnesses("LAnklePitch", ankleStiffness)
motionProxy.setStiffnesses("LHipRoll", 1.0) motionProxy.setStiffnesses("LHipRoll", hipStiffness)
motionProxy.setStiffnesses("LAnkleRoll", 1.0) motionProxy.setStiffnesses("LAnkleRoll", ankleStiffness)
motionProxy.setStiffnesses("RShoulderPitch", 1.0) motionProxy.setStiffnesses("RShoulderPitch", armStiffness)
motionProxy.setStiffnesses("RShoulderRoll", 1.0) motionProxy.setStiffnesses("RShoulderRoll", armStiffness)
motionProxy.setStiffnesses("RElbowRoll", 1.0) motionProxy.setStiffnesses("RElbowRoll", armStiffness)
motionProxy.setStiffnesses("RWristYaw", 1.0) motionProxy.setStiffnesses("RWristYaw", handStiffness)
motionProxy.setStiffnesses("RElbowYaw", 1.0) motionProxy.setStiffnesses("RElbowYaw", armStiffness)
motionProxy.setStiffnesses("RHipYawPitch", 1.0) motionProxy.setStiffnesses("RHipYawPitch", hipStiffness)
motionProxy.setStiffnesses("RHipPitch", 1.0) motionProxy.setStiffnesses("RHipPitch", hipStiffness)
motionProxy.setStiffnesses("RKneePitch", 1.0) motionProxy.setStiffnesses("RKneePitch", kneeStiffness)
motionProxy.setStiffnesses("RAnklePitch", 1.0) motionProxy.setStiffnesses("RAnklePitch", ankleStiffness)
motionProxy.setStiffnesses("RHipRoll", 1.0) motionProxy.setStiffnesses("RHipRoll", hipStiffness)
motionProxy.setStiffnesses("RAnkleRoll", 1.0) motionProxy.setStiffnesses("RAnkleRoll", ankleStiffness)
# Send robot to Stand Init # Send robot to Stand Init
#postureProxy.goToPosture("StandInit", 0.5) #postureProxy.goToPosture("StandInit", 0.5)