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

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。

来源：https://blog.csdn.net/u011181878/article/details/21618239