python实现nao机器人手臂动作控制
时间：2021-07-13 08:22:35|栏目：Python代码|点击： 次
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)
