python控制nao机器人身体动作实例详解

Python  /  管理员 发布于 7年前   149

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 sysimport motionimport almathimport 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 sysimport motionimport almathform 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。