python简单实现nao机器人身体躯干和腿部的动作

跟上一篇类似，代码没什么难度，可以进行扩展。

#-*-encoding:UTF-8-*-
'''control nao's left foot,
    cartesian control:torso and foot trajectories
    '''

import sys
import motion
from naoqi import ALProxy

def StiffnessOn(proxy):
               pNmaes="Body"
               pStiffnessLists=1.0
               pTimeLists=1.0
               proxy.stiffnessInterpolation(pName,pStiffnessLists,pTimeLists)

def main(robotIP):
               '''example of cartesian foot trajectory
               '''
               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)
               #send nao to pose init
               postureProxy.goToPosture("StandInit",0.5)

               space=motion .FRAME_ROBOT
               AxisMask=almath.AXIS_MASK_VEL
               isAbsolute=False
               path=[0.0,-0.07,-0.03,0.0,0.0,0.0]
               #lower the torso and move the size
               effector="Torso"
               time=2.0
               motionProxy.positionInterpolation(effector,space,path,axisMask,time,isAbsolute)

               #lleg motion
               effector="LLeg"
               path=[0.0,0.06,0.00,0.0,0.0,0.0]
               times=2.0

               motionProxy.positionInterpolation(effector,space,axisMask,time,isAbsolute)
               
if __name__=="__main__":
               robotIP="127.0.0.1"
               if len(sys.argv)<=1:
                              print "usage python robotIP"
               else:
                              robotIP=sys.argv[1]
               main(robotIP)