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。