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。
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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)
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实例二，控制左右胳膊
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#-*-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)
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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服务器之家。
原文链接：https://blog.csdn.net/u011181878/article/details/21618239