python机器人控制_python实现nao机器人手臂动作控制

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 sys

import motion

import almath

from 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 sys

import motion

import almath

from naoqi import ALProxy

def 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脚本之家。