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。