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improved approach

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Jonas
2018-06-18 15:01:08 +02:00
parent ed98bca9f6
commit e11f268508
2 changed files with 17 additions and 13 deletions
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15
pykick/movements.py
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@@ -11,18 +11,19 @@ class NaoMover(object):
[[(0, 1, 'ShoulderRoll', -70, 0.025)], 1],
[[(0, 1, 'AnkleRoll', -10, 0.05),
(1, 1, 'AnkleRoll', -10, 0.05)],
[[(0, 1, 'AnkleRoll', -9, 0.05),
(1, 1, 'AnkleRoll', -9, 0.05)],
2],
[[(1, 0, 'KneePitch', 90, 0.05),
(1, 0, 'AnklePitch', -40, 0.05)],
3,],
2,],
[[(1, 0, 'HipPitch', -45, 0.08),
(1, 0, 'KneePitch', 10, 0.20),
(1, 0, 'AnklePitch', 30, 0.16)],
4]
(1, 0, 'AnklePitch', 20, 0.16)],
1],
[[(1, 0, 'HipPitch', -55, 0.08)], 1]
]
def __init__(self, nao_ip, nao_port=9559):
@@ -44,8 +45,8 @@ class NaoMover(object):
self.set_arm_stiffness(0.8)
self.set_hip_stiffness(0.8)
self.set_knee_stiffness(0.8)
self.set_ankle_stiffness(0.8)
multiplier = 4
self.set_ankle_stiffness(1)
multiplier = 5
if foot == 'L':
sides = ['R', 'L']
elif foot == 'R':