本文实例为大家分享了python实现nao机器人手臂动作的具体代码，供大家参考，具体内容如下
这些天依然在看nao公司文档的东西，把读过的代码顺手敲了出来。代码依然很简单，但是为什么我要写博客呢？这其中有很大的原因在于，代码是死的，可是读着读着就感觉代码活了，而且，每次读都会有不同的感受。咱就直接看正题吧。
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#-*-encoding:utf-8-*-
import sys
import motion
import almath
from naoqi import alproxy
def stiffnesson(proxy):
#we use the body name to signify the collection of all jionts
pname="body"
pstiffnesslists=1.0
ptimelists=1.0
proxy.stiffnessinterpolation(pname,pstiffnesslists,ptimelists)
def main(robotip):
''' example showing a path of two position
'''
try:
motionproxy=alproxy("almotion",robotip,9559)
except exception ,e:
print"could not create a proxy to almotion"
print str(e)
try:
postureproxy=alproxy("alrobotposture",robotip,9559)
except exception ,e:
print"could not create a proxy to alrobotposture"
print str(e)
#set the nao stiffness on
stiffnesson(motionproxy)
#set the nao to standinit
postureproxy.gotoposture("standinit",0.5)
effector="larm"
space=motion.frame_robot
# axis_mask_vel=7
axismask=almath.axis_mask_vel
isabsolute=false
#since we are in relative, the current position is zero
currentpos=[0.0,0.0,0.0,0.0,0.0,0.0]
#define the changes in relative to the current position
dx=0.03 #translation axis x
dy=0.03 #translation axis y
dz=0.00 #translation axis z
dwx=0.00 #rotation axis x
dwy=0.00 #rotation axis x
dwz=0.00 #rotation axis x
targetpos=[dx,dy,dz,dwx,dwy,dwz]
#go to the target and back again
path=[targetpos,currentpos]
times=[2.0,4.0]#seconds
motionproxy.positioninterpolation(effector,space,path,axismask,times,isabsolute)
if __name__=="__main()__":
robotip="127.0.0.1"
if len(sys.argv)<=1:
print "use default :127.0.0.1"
else:
robotip=sys.argv[1]
main(robotip)
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接下来是另一个：
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#-*-encoding:utf-8-*-
''' cartesian control :arm trajectory example'''
import sys
import motion
import almath
from naoqi import alproxy
def stiffnesson(proxy):
pname="body"
pstiffnesslists=1.0
ptimelists=1.0
proxy.stiffnessinterpolation(pname,pstiffnesslists,ptimelists)
def main(robotip):
'''showing a hand ellipoid
'''
try:
motionproxy=alproxy("alproxy",robotip,9559)
except exception,e:
print"could not create a proxy "
print"error was ",e
try:
postureproxy=alproxy("alrobotproxy",robotip,9559)
except exception ,e:
print"could not create a proxy"
print "error was",e
#send nao in stiffness on
setstiffnesson(motionproxy)
#send nao to pose init
postureproxy.gotoposture("standinit",0.5)
effector="larm"
space=motion.frame_robot
path=[
[0.0,-0.05,+0.00,0.0,0.0,0.0], #pose1
[0.0,+0.00,+0.04,0.0,0.0,0.0], #pose2
[0.0,+0.04,+0.00,0.0,0.0,0.0], #pose3
[0.0,+0.00,-0.02,0.0,0.0,0.0], #pose4
[0.0,-0.05,+0.00,0.0,0.0,0.0], #pose5
[0.0,+0.00,+0.00,0.0,0.0,0.0]
] #pose6
axismask=7
times=[0.5,1.0,2.0,3.0,4.0,4.5] #seconds
isabsolute=false
motionproxy.positioninterpolation(effector,space,path,axismask,times,isabsolute)
if __name__=="__main__":
robotip="127.0.0.1"
if len(sys.argv)<=1:
print "usage local ip "
else:
robotip=sys.argv[1]
main(robotip)
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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服务器之家。
原文链接：https://blog.csdn.net/u011181878/article/details/21392201