python实现nao机器人手臂动作控制

Python  /  管理员 发布于 7年前   431

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。

#-*-encoding:UTF-8-*-import sysimport motionimport almathfrom 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)

接下来是另一个：

#-*-encoding:UTF-8-*-''' Cartesian control :arm trajectory example''' import sysimport motionimport almathfrom naoqi import ALProxydef 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) 

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。