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add short description to fancy kick

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Jonas
2018-06-22 20:23:00 +02:00
parent 5744778a29
commit e0bf8e35cf
1 changed files with 7 additions and 0 deletions
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7
pykick/movements.py
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@@ -6,24 +6,31 @@ from naoqi import ALProxy
class NaoMover(object): class NaoMover(object):
# fancy kick
KICK_SEQUENCE = [ KICK_SEQUENCE = [
# base_or_kicking, unsymmetric, joint, angle, speed # base_or_kicking, unsymmetric, joint, angle, speed
# lift the arm
[[(0, 1, 'ShoulderRoll', -70, 0.4)], 1], [[(0, 1, 'ShoulderRoll', -70, 0.4)], 1],
# lean to the side using the ankle joints
[[(0, 1, 'AnkleRoll', -9, 0.2), [[(0, 1, 'AnkleRoll', -9, 0.2),
(1, 1, 'AnkleRoll', -9, 0.2)], (1, 1, 'AnkleRoll', -9, 0.2)],
1], 1],
# lift the feed using the knee joint and the ankle joint
[[(1, 0, 'KneePitch', 90, 0.3), [[(1, 0, 'KneePitch', 90, 0.3),
(1, 0, 'AnklePitch', -40, 0.4)], (1, 0, 'AnklePitch', -40, 0.4)],
1.5,], 1.5,],
# move feed back using hip, knee and ankle joint
[[(1, 0, 'HipPitch', -45, 0.05), [[(1, 0, 'HipPitch', -45, 0.05),
(1, 0, 'KneePitch', 10, 0.8), (1, 0, 'KneePitch', 10, 0.8),
(1, 0, 'AnklePitch', 20, 0.7)], (1, 0, 'AnklePitch', 20, 0.7)],
1], 1],
# move feed forward using knee and ankle joint
# perform the kick
[[(1, 0, 'KneePitch', 40, 0.25), [[(1, 0, 'KneePitch', 40, 0.25),
(1, 0, 'AnklePitch', 10, 0.25)], (1, 0, 'AnklePitch', 10, 0.25)],
1,], 1,],