python控制nao机器人身体动作实例详解

import sysimport motionimport almathimport naoqi from ALProxy def StiffnessOn(proxy):        pName="Body"        pStiffnessLists        pTime=1.0        proxy.stiffnessInterpolation(pName,pStiffnessLists,pTime) def main(robotIP):        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)        postureProxy.goToPosture("StandInit",0.5)         space=motion.FRAME_ROBOT        coef=0.5        times=[coef,2.0*coef,3.0*coef,4.0*coef]        isAbsolute=False        dy=+0.06        dz=-0.03        dwx==+0.30         effector="Torso"        path=[               [0.0,-dy,dz,-dwx,0.0,0.0],               [0.0,0.0,0.0,0.0,0.0,0.0],               [0.0,+dy,dz,+dwx,0.0,0.0],               [0.0,0.0,0.0,0.0,0.0,0.0]              ]         axisMask=almath.AXIS_MASK_ALL        motionProxy.post.postionInterpolation(effector,space,path,times,isAbsolute)         #motion of arms with block process        axisMask=almath.AXIS_MASK_VEL        times=[1.0*coef,2.0*coef]        dy=+0.03        effecor="RArm"        path=[               [0.0,dy,0.0,0.0,0.0,0.0],               [0.0,0.0,0.0,0.0,0.0,0.0]              ]        motionProxy.positionInterpolation(effector,space,path,axisMask,times,inAbsolute) if __name__=="__main__":        robotIP="127.0.0.1"         if len(sys.argv)<=1:               print"useage default robotIP"        else:               robotIP=sys.arv[1]        main(robotIP)

#-*-encoding:UTF-8 -*- import sysimport motionimport almathform naoqi import ALProxy def StiffnessOn(proxy):        pName="Body"        pStiffnessLists=1.0        pTimeLists=1.0        proxy.stiffnessInterpolation(pName,pStiffnessLists,pTimeLists) def main(robotIP):         #create a proxy to almtion        try:               motionProxy=ALProxy("ALMotion",robotIP,9559)        except Exception,e:               print "could not create a proxy"               print "error is ",e         #create a proxy to alrobotposture        try:               postureProxy=ALProxy("ALRobotPosture",robotIP,9559)        except Exception,e:               print "could not create a proxy"               print "error is ",e          StiffnessOn(motionProxy)        postureProxy.goToPosture("StandInit",0.5)        space=motion.FRAME_ROBOT        isAbsolute=False         effectorList=["LArm","RArm"]        #motion of arms with block process        axisMaskList=[almath.AXIS_MASK_VEL,almath.AXIS_MASK_VEL]        timeLists=[[1.0],[1.0]]        pathList=[                     [                    [0.0,-0.04,0.0,0.0,0.0,0.0]],                  [                     [0.0,0.04,0.0,0.0,0.0,0.0]]                ]        motionProxy.positionInterpolation(effectorLists,space,pahtLists,axisMaskList,timeLists,isAbsolute)         effectorLists=["LArm","RArm","Torso"]        axisMaskLists=[               almath.AXIS_MASK_VEL,               almath.AXIS_MASK_VEL,               almath.AXIS_MASK_ALL               ]        timeLists=[               [[0.0,0.0,0.0,0.0,0.0,0.0]],               [[0.0,0.0,0.0,0.0,0.0,0.0]],               [0.0,+dy,0.0,0.0,0.0,0.0],               [0.0,-dy,0.0,0.0,0.0,0.0],               [0.0,0.0,0.0,0.0,0.0,0.0]               ]        motionProxy.positionInterpolations(effectorList,space,pathList,axisMaskList,timeList,isAbsolute) if __name__=="__main__":        robotIP="127.0.0.1"        if(sys.argv<1):               print"usege default ip"        else:               robotIP=sys.arv[1]        main(robotIP)