python实现nao机器人手臂动作控制

本文实例为大家分享了python实现nao机器人手臂动作的具体代码，供大家参考，具体内容如下

这些天依然在看nao公司文档的东西，把读过的代码顺手敲了出来。代码依然很简单，但是为什么我要写博客呢？这其中有很大的原因在于，代码是死的，可是读着读着就感觉代码活了，而且，每次读都会有不同的感受。咱就直接看正题吧。

#-*-encoding:utf-8-*-
import sys
import motion
import almath
from naoqi import alproxy
 
def stiffnesson(proxy):
    #we use the body name to signify the collection of all jionts
    pname="body"
    pstiffnesslists=1.0
    ptimelists=1.0
    proxy.stiffnessinterpolation(pname,pstiffnesslists,ptimelists)
 
def main(robotip):
    ''' example showing a path of two position
    '''
    try:
      motionproxy=alproxy("almotion",robotip,9559)
    except exception ,e:
        print"could not create a proxy to almotion"
        print str(e)
 
    try:
      postureproxy=alproxy("alrobotposture",robotip,9559)
    except exception ,e:
        print"could not create a proxy to alrobotposture"
        print str(e)
    #set the nao stiffness on
    stiffnesson(motionproxy)
 
    #set the nao to standinit
    postureproxy.gotoposture("standinit",0.5)
 
    effector="larm"
    space=motion.frame_robot
    # axis_mask_vel=7
    axismask=almath.axis_mask_vel
    isabsolute=false
    #since we are in relative, the current position is zero
    currentpos=[0.0,0.0,0.0,0.0,0.0,0.0]
    #define the changes in relative to the current position 
    dx=0.03      #translation axis x
    dy=0.03      #translation axis y
    dz=0.00      #translation axis z
    dwx=0.00     #rotation axis x
    dwy=0.00     #rotation axis x
    dwz=0.00     #rotation axis x
 
    targetpos=[dx,dy,dz,dwx,dwy,dwz]
 
    #go to the target and back again
    path=[targetpos,currentpos]
    times=[2.0,4.0]#seconds
    motionproxy.positioninterpolation(effector,space,path,axismask,times,isabsolute)
 
if __name__=="__main()__":
    robotip="127.0.0.1"
    if len(sys.argv)<=1:
      print "use default :127.0.0.1"
    else:
      robotip=sys.argv[1]       
main(robotip)

接下来是另一个：

#-*-encoding:utf-8-*-
''' cartesian control :arm trajectory example'''
 
import sys
import motion
import almath
from naoqi import alproxy
def stiffnesson(proxy):
    pname="body"
    pstiffnesslists=1.0
    ptimelists=1.0
    proxy.stiffnessinterpolation(pname,pstiffnesslists,ptimelists)
 
 
def main(robotip):
    '''showing a hand ellipoid
    '''
    try:
      motionproxy=alproxy("alproxy",robotip,9559)
    except exception,e:
      print"could not create a proxy "
      print"error was ",e
 
    try:
      postureproxy=alproxy("alrobotproxy",robotip,9559)
    except exception ,e:
      print"could not create a proxy"
      print "error was",e
 
    #send nao in stiffness on
    setstiffnesson(motionproxy)
    #send nao to pose init
    postureproxy.gotoposture("standinit",0.5)
 
    effector="larm"
    space=motion.frame_robot
    path=[
        [0.0,-0.05,+0.00,0.0,0.0,0.0],    #pose1
        [0.0,+0.00,+0.04,0.0,0.0,0.0],    #pose2
        [0.0,+0.04,+0.00,0.0,0.0,0.0],    #pose3
        [0.0,+0.00,-0.02,0.0,0.0,0.0],    #pose4
        [0.0,-0.05,+0.00,0.0,0.0,0.0],    #pose5
        [0.0,+0.00,+0.00,0.0,0.0,0.0]
        ]                #pose6
    axismask=7
    times=[0.5,1.0,2.0,3.0,4.0,4.5]       #seconds 
    
    isabsolute=false
    motionproxy.positioninterpolation(effector,space,path,axismask,times,isabsolute)
    
if __name__=="__main__":
    robotip="127.0.0.1"
    if len(sys.argv)<=1:
        print "usage local ip "
    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。