python實(shí)現(xiàn)nao機(jī)器人手臂動(dòng)作控制
本文實(shí)例為大家分享了python實(shí)現(xiàn)nao機(jī)器人手臂動(dòng)作的具體代碼,供大家參考,具體內(nèi)容如下
這些天依然在看nao公司文檔的東西,把讀過的代碼順手敲了出來。代碼依然很簡單,但是為什么我要寫博客呢?這其中有很大的原因在于,代碼是死的,可是讀著讀著就感覺代碼活了,而且,每次讀都會(huì)有不同的感受。咱就直接看正題吧。
#-*-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)
接下來是另一個(gè):
#-*-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)
以上就是本文的全部內(nèi)容,希望對(duì)大家的學(xué)習(xí)有所幫助,也希望大家多多支持腳本之家。
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