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python用于机器人（python控制nao机器人身体动作实例详解）

更多 时间：2021-10-12 00:47:05 类别：脚本大全 浏览量：1255

python用于机器人

python控制nao机器人身体动作实例详解

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。

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    		•
  • 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

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    		•
  • #-*-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开心学习网。

    原文链接：https://blog.csdn.net/u011181878/article/details/21618239

    标签：Python 机器人 NAO
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