python实现nao机器人身体躯干和腿部动作操作

本文实例为大家分享了python实现nao机器人身体躯干和腿部动作的具体代码，供大家参考，具体内容如下

跟上一篇类似，代码没什么难度，可以进行扩展。

#-*-encoding:UTF-8-*-
'''control nao's left foot,
cartesian control:torso and foot trajectories
'''

import sys
import motion
from naoqi import ALProxy

def StiffnessOn(proxy):
pNmaes="Body"
pStiffnessLists=1.0
pTimeLists=1.0
proxy.stiffnessInterpolation(pName,pStiffnessLists,pTimeLists)

def main(robotIP):
'''example of cartesian foot trajectory
'''
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)
#send nao to pose init
postureProxy.goToPosture("StandInit",0.5)

space=motion .FRAME_ROBOT
AxisMask=almath.AXIS_MASK_VEL
isAbsolute=False
path=[0.0,-0.07,-0.03,0.0,0.0,0.0]
#lower the torso and move the size
effector="Torso"
time=2.0
motionProxy.positionInterpolation(effector,space,path,axisMask,time,isAbsolute)

#lleg motion
effector="LLeg"
path=[0.0,0.06,0.00,0.0,0.0,0.0]
times=2.0

motionProxy.positionInterpolation(effector,space,axisMask,time,isAbsolute)

if __name__=="__main__":
robotIP="127.0.0.1"
if len(sys.argv)<=1:
print "usage python robotIP"
else:
robotIP=sys.argv[1]
main(robotIP)

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脚本之家。

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