时间:2021-05-22
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
今天读的代码,顺便写了出来,与文档的对比,差不多。
实例二,控制左右胳膊
#-*-encoding:UTF-8 -*- import sysimport motionimport almathform naoqi import ALProxy def StiffnessOn(proxy): pName="Body" pStiffnessLists=1.0 pTimeLists=1.0 proxy.stiffnessInterpolation(pName,pStiffnessLists,pTimeLists) def main(robotIP): #create a proxy to almtion try: motionProxy=ALProxy("ALMotion",robotIP,9559) except Exception,e: print "could not create a proxy" print "error is ",e #create a proxy to alrobotposture 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 isAbsolute=False effectorList=["LArm","RArm"] #motion of arms with block process axisMaskList=[almath.AXIS_MASK_VEL,almath.AXIS_MASK_VEL] timeLists=[[1.0],[1.0]] pathList=[ [ [0.0,-0.04,0.0,0.0,0.0,0.0]], [ [0.0,0.04,0.0,0.0,0.0,0.0]] ] motionProxy.positionInterpolation(effectorLists,space,pahtLists,axisMaskList,timeLists,isAbsolute) effectorLists=["LArm","RArm","Torso"] axisMaskLists=[ almath.AXIS_MASK_VEL, almath.AXIS_MASK_VEL, almath.AXIS_MASK_ALL ] timeLists=[ [[0.0,0.0,0.0,0.0,0.0,0.0]], [[0.0,0.0,0.0,0.0,0.0,0.0]], [0.0,+dy,0.0,0.0,0.0,0.0], [0.0,-dy,0.0,0.0,0.0,0.0], [0.0,0.0,0.0,0.0,0.0,0.0] ] motionProxy.positionInterpolations(effectorList,space,pathList,axisMaskList,timeList,isAbsolute) if __name__=="__main__": robotIP="127.0.0.1" if(sys.argv<1): print"usege default ip" else: robotIP=sys.arv[1] main(robotIP)感受:
这些小的程序最不好处理的就是path中的数据了。这些数据是怎么获得的?最大的可能就是在choregraph中3D视图中测试得到,当然还有一种可能就是将choregraph与实体机连接,将机器人置于practice状态,这样操作来获得数据。后者操作性更强,但由于实际原因,用前者的可能性是最大的。
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。
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