python控制nao机器人身体动作实例

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 ALProxydef StiffnessOn(proxy):pName="Body"pStiffnessListspTime=1.0proxy.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 ",etry:postureProxy=ALProxy("ALRobotPosture",robotIP,9559)except Exception,e:print:"could not create a proxy!"print:"error is ",eStiffnessOn(motionProxy)postureProxy.goToPosture("StandInit",0.5)space=motion.FRAME_ROBOTcoef=0.5times=[coef,2.0*coef,3.0*coef,4.0*coef]isAbsolute=Falsedy=+0.06dz=-0.03dwx==+0.30effector="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_ALLmotionProxy.post.postionInterpolation(effector,space,path,times,isAbsolute)#motion of arms with block processaxisMask=almath.AXIS_MASK_VELtimes=[1.0*coef,2.0*coef]dy=+0.03effecor="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 ALProxydef StiffnessOn(proxy):pName="Body"pStiffnessLists=1.0pTimeLists=1.0proxy.stiffnessInterpolation(pName,pStiffnessLists,pTimeLists)def main(robotIP):#create a proxy to almtiontry:motionProxy=ALProxy("ALMotion",robotIP,9559)except Exception,e:print "could not create a proxy"print "error is ",e#create a proxy to alrobotposturetry:postureProxy=ALProxy("ALRobotPosture",robotIP,9559)except Exception,e:print "could not create a proxy"print "error is ",eStiffnessOn(motionProxy)postureProxy.goToPosture("StandInit",0.5)space=motion.FRAME_ROBOTisAbsolute=FalseeffectorList=["LArm","RArm"]#motion of arms with block processaxisMaskList=[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。

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