python控制nao机器人身体动作实例详解

站长资源 2024/11/26 佚名

2 0 1

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。

python控制nao机器人动作,python控制nao机器人身体动作,python控制机器人身体动作

广告合作：本站广告合作请联系QQ：858582 申请时备注：广告合作（否则不回）
免责声明：本站资源来自互联网收集,仅供用于学习和交流,请遵循相关法律法规,本站一切资源不代表本站立场,如有侵权、后门、不妥请联系本站删除！

评论“python控制nao机器人身体动作实例详解”

暂无评论...

www.wwsws.com 伏龙阁资源网

39,976影音资源

44,792技术资源

21,817软件资源

651,128站长资源

稳了！魔兽国服回归的3条重磅消息！官宣时间再确认！

昨天有一位朋友在大神群里分享，自己亚服账号被封号之后居然弹出了国服的封号信息对话框。

这里面让他访问的是一个国服的战网网址，com.cn和后面的zh都非常明白地表明这就是国服战网。
而他在复制这个网址并且进行登录之后，确实是网易的网址，也就是我们熟悉的停服之后国服发布的暴雪游戏产品运营到期开放退款的说明。这是一件比较奇怪的事情，因为以前都没有出现这样的情况，现在突然提示跳转到国服战网的网址，是不是说明了简体中文客户端已经开始进行更新了呢？

更新日志

2024年11月26日

python控制nao机器人身体动作实例详解

python程序控制NAO机器人行走

Django web框架使用url path name详解

评论“python控制nao机器人身体动作实例详解”

稳了！魔兽国服回归的3条重磅消息！官宣时间再确认！

更新日志

友情链接