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modified motion_setter

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This commit is contained in:
Enrico Mattioli
2018-05-31 11:07:40 +02:00
parent f54fbc952d
commit ff7f90b719
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")
# 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)