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python控制nao机器人身体动作实例详解

2019年06月06日  | 移动技术网IT编程  | 我要评论

创世逍遥录,cz6600航班,度娘是什么意思

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。

import sys
import motion
import almath
import naoqi from alproxy
 
def stiffnesson(proxy):
        pname="body"
        pstiffnesslists
        ptime=1.0
        proxy.stiffnessinterpolation(pname,pstiffnesslists,ptime)
 
def main(robotip):
        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)
        postureproxy.gotoposture("standinit",0.5)
 
        space=motion.frame_robot
        coef=0.5
        times=[coef,2.0*coef,3.0*coef,4.0*coef]
        isabsolute=false
        dy=+0.06
        dz=-0.03
        dwx==+0.30
 
        effector="torso"
        path=[
               [0.0,-dy,dz,-dwx,0.0,0.0],
               [0.0,0.0,0.0,0.0,0.0,0.0],
               [0.0,+dy,dz,+dwx,0.0,0.0],
               [0.0,0.0,0.0,0.0,0.0,0.0]
              ]
 
        axismask=almath.axis_mask_all
        motionproxy.post.postioninterpolation(effector,space,path,times,isabsolute)
 
        #motion of arms with block process
        axismask=almath.axis_mask_vel
        times=[1.0*coef,2.0*coef]
        dy=+0.03
        effecor="rarm"
        path=[
               [0.0,dy,0.0,0.0,0.0,0.0],
               [0.0,0.0,0.0,0.0,0.0,0.0]
              ]
        motionproxy.positioninterpolation(effector,space,path,axismask,times,inabsolute)
 
if __name__=="__main__":
        robotip="127.0.0.1"
 
        if len(sys.argv)<=1:
               print"useage default robotip"
        else:
               robotip=sys.arv[1]
        main(robotip)

实例二，控制左右胳膊

#-*-encoding:utf-8 -*-
 
import sys
import motion
import almath
form 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移动技术网。

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