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

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

Browse Source
This commit is contained in:
Jonas
2018-05-31 11:16:19 +02:00
parent fe2db524bb ff7f90b719
commit df043ccbc0
1 changed files with 41 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files

67
scripts/motion_setter.py
View File

@@ -19,35 +19,50 @@ def main(robotIP, PORT,rest):
AutonomousLifeProxy.setState("disabled")
# 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
motionProxy.setStiffnesses("Head", 1.0)
motionProxy.setStiffnesses("RHand", 1.0)
motionProxy.setStiffnesses("LHand", 1.0)
motionProxy.setStiffnesses("LShoulderPitch", 1.0)
motionProxy.setStiffnesses("LShoulderRoll", 1.0)
motionProxy.setStiffnesses("LElbowRoll", 1.0)
motionProxy.setStiffnesses("LWristYaw", 1.0)
motionProxy.setStiffnesses("LElbowYaw", 1.0)
motionProxy.setStiffnesses("LHipYawPitch", 1.0)
motionProxy.setStiffnesses("LHipPitch", 1.0)
motionProxy.setStiffnesses("LKneePitch", 1.0)
motionProxy.setStiffnesses("LAnklePitch", 1.0)
motionProxy.setStiffnesses("LHipRoll", 1.0)
motionProxy.setStiffnesses("LAnkleRoll", 1.0)
motionProxy.setStiffnesses("Head", headStiffness)
motionProxy.setStiffnesses("RHand", handStiffness)
motionProxy.setStiffnesses("LHand", handStiffness)
motionProxy.setStiffnesses("LShoulderPitch", armStiffness)
motionProxy.setStiffnesses("LShoulderRoll", armStiffness)
motionProxy.setStiffnesses("LElbowRoll", armStiffness)
motionProxy.setStiffnesses("LWristYaw", handStiffness)
motionProxy.setStiffnesses("LElbowYaw", armStiffness)
motionProxy.setStiffnesses("LHipYawPitch", hipStiffness)
motionProxy.setStiffnesses("LHipPitch", hipStiffness)
motionProxy.setStiffnesses("LKneePitch", kneeStiffness)
motionProxy.setStiffnesses("LAnklePitch", ankleStiffness)
motionProxy.setStiffnesses("LHipRoll", hipStiffness)
motionProxy.setStiffnesses("LAnkleRoll", ankleStiffness)
motionProxy.setStiffnesses("RShoulderPitch", 1.0)
motionProxy.setStiffnesses("RShoulderRoll", 1.0)
motionProxy.setStiffnesses("RElbowRoll", 1.0)
motionProxy.setStiffnesses("RWristYaw", 1.0)
motionProxy.setStiffnesses("RElbowYaw", 1.0)
motionProxy.setStiffnesses("RHipYawPitch", 1.0)
motionProxy.setStiffnesses("RHipPitch", 1.0)
motionProxy.setStiffnesses("RKneePitch", 1.0)
motionProxy.setStiffnesses("RAnklePitch", 1.0)
motionProxy.setStiffnesses("RHipRoll", 1.0)
motionProxy.setStiffnesses("RAnkleRoll", 1.0)
motionProxy.setStiffnesses("RShoulderPitch", armStiffness)
motionProxy.setStiffnesses("RShoulderRoll", armStiffness)
motionProxy.setStiffnesses("RElbowRoll", armStiffness)
motionProxy.setStiffnesses("RWristYaw", handStiffness)
motionProxy.setStiffnesses("RElbowYaw", armStiffness)
motionProxy.setStiffnesses("RHipYawPitch", hipStiffness)
motionProxy.setStiffnesses("RHipPitch", hipStiffness)
motionProxy.setStiffnesses("RKneePitch", kneeStiffness)
motionProxy.setStiffnesses("RAnklePitch", ankleStiffness)
motionProxy.setStiffnesses("RHipRoll", hipStiffness)
motionProxy.setStiffnesses("RAnkleRoll", ankleStiffness)
# Send robot to Stand Init
#postureProxy.goToPosture("StandInit", 0.5)