python控制nao机器人身体动作实例详解

发布时间：2020-10-23 09:18:22

来源：脚本之家

阅读：89

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亿速云。