python机器人编程与操作_python实现nao机器人身体躯干和腿部动作操作

本文实例为大家分享了python实现nao机器人身体躯干和腿部动作的具体代码，供大家参考，具体内容如下

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)

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本文标题: python实现nao机器人身体躯干和腿部动作操作

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