python控制nao机器人身体动作实例详解-创新互联

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

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今天读的代码，顺便写了出来，与文档的对比，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)

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