小编给大家分享一下如何使用python实现nao机器人手臂动作控制,希望大家阅读完这篇文章之后都有所收获,下面让我们一起去探讨吧!
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#-*-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)
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