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)

来源：https://blog.csdn.net/u011181878/article/details/21392629