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python机器人开发（python程序控制NAO机器人行走）

更多时间：2021-10-13 00:38:21 类别：脚本大全浏览量：2312

python机器人开发

python程序控制NAO机器人行走

最近重新学习nao的官方文档，写点简单的程序回顾一下。主要是用python调用api，写下来保存着。

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81 '''walk:small example to make nao walk'''

import sys

import motion

import time

from naoqi import alproxy

def stiffnesson(proxy):

#we use the 'body' to signify the collection of all joints

pname="body"

pstiffnesslists=1.0

ptimelists=1.0

proxy.stiffnessinterpolation(pname,pstiffnesslists,ptimelists)

def main(robotip):

#init proxies

try:

motionproxy=alproxy("almotion",robotip,9559)

except exception,e:

print "could not create proxy to almotion"

print"error was",e

try:

postureproxy=alproxy("alrobotposture",robotip,9559)

except exception,e:

print"could not create proxy to alrobotposture"

print "error is ",e

#set nao in stiffness on

stiffnesson(motionproxy)

#send nao to pose init

postureproxy.gotoposture("standinit",0.5);

#eable arms control by walk algorithm

motionproxy.setwalkarmseable(true,true)

#foot contact protection

motionproxy.setmotionconfig([["enable_foot_contact_protection",true]])

#target velocity

x=-0.5 #backward

y=0.0

theta=0.0

frequency=0.0#low speed

motionproxy.setwalktargetvelocity(x,y.theta,frequency)

time.sleep(4.0)

#target velocity

x=0.9

y=0.0

theta=0.0

frenqency=1.0#max speed

motionproxy.setwalktargetvelocity(x,y,theta,frenquency)

time.sleep(2.0)

#arms user motion

#arms motion from user have alwalys priority than walk arms motion

joinnames=["lshouderpitch","lshouderroll","lelbowyaw","lelbowroll"]

arm1=[-40,25,0,-40]

arm1=[x*motion.to_rad for x in aram1]

arm2=[-40,50,0,-80]

arm2=[x*motion.to_rad for x in aram2]

pfractionmaxspeed=0.6

motionproxy.angleinterpolationwithspeed(joinnames,arms1,pfractionmaxspeed)

motionproxy.angleinterpolationwithspeed(joinnames,arms2,pfractionmaxspeed)

motionproxy.angleinterpolationwithspeed(joinnames,arms1,pfractionmaxspeed)

#end walk

x=0.0

y=0.0

theta=0.0

motionproxy.setwalktargetvelocity(x,y,theta,frequency)

if __name__=="__main__":

robotip="192.168.1.155"

if len(sys.argv)<=1:

print "useage pyhton motion_walk.py robotip,default is 127.0.0.1"

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开心学习网。

原文链接：https://blog.csdn.net/u011181878/article/details/21048959

标签：Python 机器人 NAO

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