python控制nao機(jī)器人身體動(dòng)作實(shí)例詳解

更新時(shí)間：2019年04月29日 10:55:45 作者：Earl_Martin

這篇文章主要為大家詳細(xì)介紹了python控制nao機(jī)器人身體動(dòng)作實(shí)例，具有一定的參考價(jià)值，感興趣的小伙伴們可以參考一下

本文實(shí)例為大家分享了python控制nao機(jī)器人身體動(dòng)作的具體代碼，供大家參考，具體內(nèi)容如下

今天讀的代碼，順便寫(xiě)了出來(lái)，與文檔的對(duì)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)

實(shí)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：

這些小的程序最不好處理的就是path中的數(shù)據(jù)了。這些數(shù)據(jù)是怎么獲得的？最大的可能就是在choregraph中3D視圖中測(cè)試得到，當(dāng)然還有一種可能就是將choregraph與實(shí)體機(jī)連接，將機(jī)器人置于practice狀態(tài)，這樣操作來(lái)獲得數(shù)據(jù)。后者操作性更強(qiáng)，但由于實(shí)際原因，用前者的可能性是最大的。

以上就是本文的全部?jī)?nèi)容，希望對(duì)大家的學(xué)習(xí)有所幫助，也希望大家多多支持腳本之家。

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