NAO基本操作１——Motion

1、 运动（ALMotion）

from naoqi import ALProxy 
IP=<The robot IP>
port=9559
motionProxy=ALProxy("ALMotion",IP,port)

SE3插值

effectorName="Head"
space=motion.SPACE_NAO
path=[[1.0,2.0,3.0,0.0,0.0,0.0],
      [3.0,2.0,1.0,0.0,0.0,0.0],
      [0.0,0.0,0.0,0.0,0.0,0.0]]
axisMask=7  # just control position
times=[2.0,4.0,6.0]
isAbsolute=False
motionProxy.positionInterpolation(effectorName,space,path,axisMask,times,isAbsolute)

effectorName="Head"
space=motion.SPACE_NAO
path=[[1.0,2.0,3.0,4.0,2.0,3.0],
      [2.0,3.0,4.0,5.0,2.0,3.0],
      [3.0,4.0,5.0,6.0,3.0,4.0],
      [4.0,5.0,5.0,4.0,3.0,4.0]]
axisMask=63
times=[2.0,4.0,6.0,8.0]
isAbsolute=False
motionProxy.post.positionInterpolation(effectorName,space,path,axisMask,times,isAbsolute)

effectorName="LArm"
space