python实现nao机器人手臂动作控制

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。

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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：

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#-*-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)