python实现nao机器人身体躯干和腿部动作操作

#-*-encoding:UTF-8-*-'''control nao's left foot,  cartesian control:torso and foot trajectories  ''' import sysimport motionfrom 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)