pavel/kick-it
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changed leg changed speed values of the kick

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Jonas
2018-06-15 15:51:30 +02:00
parent 81c9c174dc
commit f55a909867
2 changed files with 12 additions and 13 deletions
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23
pykick/movements.py
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@@ -7,17 +7,17 @@ from naoqi import ALProxy
class NaoMover(object):
KICK_SEQUENCE = [
(0, 'ShoulderRoll', -45, 0.5),
(0, 'ShoulderRoll', 45, 0.0125),
#'wait',
(0, 'AnkleRoll', 10, 0.05),
(1, 'AnkleRoll', 10, 0.05),
'wait',
(0, 'AnkleRoll', -10, 0.1),
(1, 'AnkleRoll', -10, 0.1),
(1, 'KneePitch', 90, 0.05),
(1, 'AnklePitch', -40, 0.05),
'wait',
(1, 'KneePitch', 90, 0.2),
(1, 'AnklePitch', -40, 0.2),
'wait',
(1, 'HipPitch', -45, 0.03),
(1, 'KneePitch', 10, 0.05),
(1, 'AnklePitch', 20, 0.03)
(1, 'HipPitch', -45, 0.08),
(1, 'KneePitch', 10, 0.20),
(1, 'AnklePitch', 20, 0.16)
]
def __init__(self, nao_ip, nao_port=9559):
@@ -40,11 +40,11 @@ class NaoMover(object):
self.set_hip_stiffness(0.8)
self.set_knee_stiffness(0.8)
self.set_ankle_stiffness(0.8)
multiplier = 1
multiplier = 5
if foot == 'L':
sides = ['R', 'L']
elif foot == 'R':
sides = ['R', 'L']
sides = ['L', 'R']
reverse = []
for motion in self.KICK_SEQUENCE:
if motion == 'wait':
@@ -52,7 +52,6 @@ class NaoMover(object):
else:
print(motion)
side, joint, angle, speed = motion
reverse.extend(self.mp.getAngles([sides[side] + joint])
self.mp.setAngles(
[sides[side] + joint], [radians(angle)], speed * multiplier
)