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-*- importsys importmotion importalmath fromnaoqiimportALProxy defStiffnessOn(proxy): #weusethebodynametosignifythecollectionofalljionts pName="Body" pStiffnessLists=1.0 pTimeLists=1.0 proxy.stiffnessInterpolation(pName,pStiffnessLists,pTimeLists) defmain(robotIP): '''exampleshowingapathoftwoposition ''' try: motionProxy=ALProxy("ALMotion",robotIP,9559) exceptException,e: print"couldnotcreateaproxytoalmotion" printstr(e) try: postureProxy=ALProxy("ALRobotPosture",robotIP,9559) exceptException,e: print"couldnotcreateaproxytoalRobotPosture" printstr(e) #setthenaostiffnesson StiffnessOn(motionProxy) #setthenaotostandinit postureProxy.goToPosture("StandInit",0.5) effector="LArm" space=motion.FRAME_ROBOT #AXIS_MASK_VEL=7 axisMask=almath.AXIS_MASK_VEL isAbsolute=False #sinceweareinrelative,thecurrentpositioniszero currentPos=[0.0,0.0,0.0,0.0,0.0,0.0] #definethechangesinrelativetothecurrentposition dx=0.03#translationaxisx dy=0.03#translationaxisy dz=0.00#translationaxisz dwx=0.00#rotationaxisx dwy=0.00#rotationaxisx dwz=0.00#rotationaxisx targetPos=[dx,dy,dz,dwx,dwy,dwz] #gotothetargetandbackagain 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" iflen(sys.argv)<=1: print"usedefault:127.0.0.1" else: robotIP=sys.argv[1] main(robotIP)
接下来是另一个:
#-*-encoding:UTF-8-*- '''Cartesiancontrol:armtrajectoryexample''' importsys importmotion importalmath fromnaoqiimportALProxy defStiffnessOn(proxy): pName="Body" pStiffnessLists=1.0 pTimeLists=1.0 proxy.stiffnessInterpolation(pName,pStiffnessLists,pTimeLists) defmain(robotIP): '''showingahandellipoid ''' try: motionProxy=ALProxy("ALProxy",robotIP,9559) exceptException,e: print"couldnotcreateaproxy" print"errorwas",e try: postureProxy=ALProxy("ALRobotProxy",robotIP,9559) exceptException,e: print"couldnotcreateaproxy" print"errorwas",e #sendnaoinstiffnesson setStiffnessOn(motionProxy) #sendnaotoposeinit 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" iflen(sys.argv)<=1: print"usagelocalip" 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。