python实现nao机器人身体躯干和腿部动作操作

本文实例为大家分享了python实现nao机器人身体躯干和腿部动作的具体代码，供大家参考，具

本文实例为大家分享了python实现nao机器人身体躯干和腿部动作的具体代码，供大家参考，具体内容如下

跟上一篇类似，代码没什么难度，可以进行扩展。

#-*-encoding:UTF-8-*-
'''control nao's left foot,
 cartesian control:torso and foot trajectories
 '''
 
import sys
import motion
from naoqi import ALProxy
 
def StiffnessOn(proxy):
 pNmaes="Body"
 pStiffnessLists=1.0
 pTimeLists=1.0
 proxy.stiffnessInterpolation(pName,pStiffnessLists,pTimeLists)
 
def main(robotIP):
 '''example of cartesian foot trajectory
 '''
 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)
 #send nao to pose init
 postureProxy.goToPosture("StandInit",0.5)
 
 space=motion .FRAME_ROBOT
 AxisMask=almath.AXIS_MASK_VEL
 isAbsolute=False
 path=[0.0,-0.07,-0.03,0.0,0.0,0.0]
 #lower the torso and move the size
 effector="Torso"
 time=2.0
 motionProxy.positionInterpolation(effector,space,path,axisMask,time,isAbsolute)
 
 #lleg motion
 effector="LLeg"
 path=[0.0,0.06,0.00,0.0,0.0,0.0]
 times=2.0
 
 motionProxy.positionInterpolation(effector,space,axisMask,time,isAbsolute)
 
if __name__=="__main__":
 robotIP="127.0.0.1"
 if len(sys.argv)<=1:
 print "usage python robotIP"
 else:
 robotIP=sys.argv[1]
 main(robotIP)

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。