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-*-
'''controlnao'sleftfoot,
cartesiancontrol:torsoandfoottrajectories
'''
importsys
importmotion
fromnaoqiimportALProxy
defStiffnessOn(proxy):
pNmaes="Body"
pStiffnessLists=1.0
pTimeLists=1.0
proxy.stiffnessInterpolation(pName,pStiffnessLists,pTimeLists)
defmain(robotIP):
'''exampleofcartesianfoottrajectory
'''
try:
motionProxy=ALProxy("ALMotion",robotIP,9559)
exceptException,e:
print"couldnotcreateaproxy"
print"erroris",e
try:
postureProxy=ALProxy("ALRobotPosture",robotIP,9559)
exceptException,e:
print"couldnotcreateaproxy"
print"erroris",e
StiffnessOn(motionProxy)
#sendnaotoposeinit
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]
#lowerthetorsoandmovethesize
effector="Torso"
time=2.0
motionProxy.positionInterpolation(effector,space,path,axisMask,time,isAbsolute)
#llegmotion
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"
iflen(sys.argv)<=1:
print"usagepythonrobotIP"
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毛票票。
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