python控制nao机器人身体动作实例详解

本文实例为大家分享了python控制nao机器人身体动作的具体代码，供大家参考，具体内容如下

本文实例为大家分享了python控制nao机器人身体动作的具体代码，供大家参考，具体内容如下

今天读的代码，顺便写了出来，与文档的对比，差不多。

import sys
import motion
import almath
import naoqi from ALProxy
 
def StiffnessOn(proxy):
 pName="Body"
 pStiffnessLists
 pTime=1.0
 proxy.stiffnessInterpolation(pName,pStiffnessLists,pTime)
 
def main(robotIP):
 try:
 motionProxy=ALProxy("ALMotion",robotIP,9559)
 except Exception,e:
 print:"could not create a proxy!"
 print:"error is ",e
 
 try:
 postureProxy=ALProxy("ALRobotPosture",robotIP,9559)
 except Exception,e:
 print:"could not create a proxy!"
 print:"error is ",e
 
 StiffnessOn(motionProxy)
 postureProxy.goToPosture("StandInit",0.5)
 
 space=motion.FRAME_ROBOT
 coef=0.5
 times=[coef,2.0*coef,3.0*coef,4.0*coef]
 isAbsolute=False
 dy=+0.06
 dz=-0.03
 dwx==+0.30
 
 effector="Torso"
 path=[
 [0.0,-dy,dz,-dwx,0.0,0.0],
 [0.0,0.0,0.0,0.0,0.0,0.0],
 [0.0,+dy,dz,+dwx,0.0,0.0],
 [0.0,0.0,0.0,0.0,0.0,0.0]
 ]
 
 axisMask=almath.AXIS_MASK_ALL
 motionProxy.post.postionInterpolation(effector,space,path,times,isAbsolute)
 
 #motion of arms with block process
 axisMask=almath.AXIS_MASK_VEL
 times=[1.0*coef,2.0*coef]
 dy=+0.03
 effecor="RArm"
 path=[
 [0.0,dy,0.0,0.0,0.0,0.0],
 [0.0,0.0,0.0,0.0,0.0,0.0]
 ]
 motionProxy.positionInterpolation(effector,space,path,axisMask,times,inAbsolute)
 
if __name__=="__main__":
 robotIP="127.0.0.1"
 
 if len(sys.argv)<=1:
 print"useage default robotIP"
 else:
 robotIP=sys.arv[1]
 main(robotIP)

实例二，控制左右胳膊

#-*-encoding:UTF-8 -*-
 
import sys
import motion
import almath
form naoqi import ALProxy
 
def StiffnessOn(proxy):
 pName="Body"
 pStiffnessLists=1.0
 pTimeLists=1.0
 proxy.stiffnessInterpolation(pName,pStiffnessLists,pTimeLists)
 
def main(robotIP):
 
 #create a proxy to almtion
 try:
 motionProxy=ALProxy("ALMotion",robotIP,9559)
 except Exception,e:
 print "could not create a proxy"
 print "error is ",e
 
 #create a proxy to alrobotposture
 try:
 postureProxy=ALProxy("ALRobotPosture",robotIP,9559)
 except Exception,e:
 print "could not create a proxy"
 print "error is ",e
 
 
 StiffnessOn(motionProxy)
 postureProxy.goToPosture("StandInit",0.5)
 space=motion.FRAME_ROBOT
 isAbsolute=False
 
 effectorList=["LArm","RArm"]
 #motion of arms with block process
 axisMaskList=[almath.AXIS_MASK_VEL,almath.AXIS_MASK_VEL]
 timeLists=[[1.0],[1.0]]
 pathList=[ 
 [
 [0.0,-0.04,0.0,0.0,0.0,0.0]],
 [ 
 [0.0,0.04,0.0,0.0,0.0,0.0]]
 ]
 motionProxy.positionInterpolation(effectorLists,space,pahtLists,axisMaskList,timeLists,isAbsolute)
 
 effectorLists=["LArm","RArm","Torso"]
 axisMaskLists=[
 almath.AXIS_MASK_VEL,
 almath.AXIS_MASK_VEL,
 almath.AXIS_MASK_ALL
 ]
 timeLists=[
 [[0.0,0.0,0.0,0.0,0.0,0.0]],
 [[0.0,0.0,0.0,0.0,0.0,0.0]],
 [0.0,+dy,0.0,0.0,0.0,0.0],
 [0.0,-dy,0.0,0.0,0.0,0.0],
 [0.0,0.0,0.0,0.0,0.0,0.0]
 ]
 motionProxy.positionInterpolations(effectorList,space,pathList,axisMaskList,timeList,isAbsolute)
 
if __name__=="__main__":
 robotIP="127.0.0.1"
 if(sys.argv<1):
 print"usege default ip"
 else:
 robotIP=sys.arv[1]
 main(robotIP)

感受：

这些小的程序最不好处理的就是path中的数据了。这些数据是怎么获得的？最大的可能就是在choregraph中3D视图中测试得到，当然还有一种可能就是将choregraph与实体机连接，将机器人置于practice状态，这样操作来获得数据。后者操作性更强，但由于实际原因，用前者的可能性是最大的。

以上就是本文的全部内容，希望对大家的学习有所帮助，也希望大家多多支持脚本之家。

python控制nao机器人动作 python控制nao机器人身体动作 python控制机器人身体动作