python程序控制NAO机器人行走
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2021-01-20
07:04:18
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python程序控制程序控制NAO机器人行走机器人行走
最近重新学习nao的官方文档，写点简单的程序回顾一下。主要是用python调用api，写下来保存着。
'''Walk:small example to make nao walk'''
import sys
import motion
import time
from naoqi import ALProxy
def StiffnessOn(proxy):
#we use the 'body' to signify the collection of all joints
pName="Body"
pStiffnessLists=1.0
pTimeLists=1.0
proxy.stiffnessInterpolation(pName,pStiffnessLists,pTimeLists)
def main(robotIP):
#init proxies
try:
motionProxy=ALProxy("ALMotion",robotIP,9559)
except Exception,e:
print "could not create proxy to ALMotion"
print"error was",e
try:
postureProxy=ALProxy("ALRobotPosture",robotIP,9559)
except Exception,e:
print"could not create proxy to ALRobotPosture"
print "error is ",e
#set nao in stiffness on
StiffnessOn(motionProxy)
#send nao to pose init
postureProxy.goToPosture("StandInit",0.5);
#eable arms control by walk algorithm
motionProxy.setWalkArmsEable(True,True)
#foot contact protection
motionProxy.setMotionConfig([["ENABLE_FOOT_CONTACT_PROTECTION",True]])
#target velocity
X=-0.5 #backward
Y=0.0
Theta=0.0
Frequency=0.0#low speed
motionProxy.setWalkTargetVelocity(X,Y.Theta,Frequency)
time.sleep(4.0)
#target velocity
X=0.9
Y=0.0
Theta=0.0
Frenqency=1.0#max speed
motionProxy.setWalkTargetVelocity(X,Y,Theta,Frenquency)
time.sleep(2.0)
#arms user motion
#arms motion from user have alwalys priority than walk arms motion
JoinNames=["LShouderPitch","LShouderRoll","LElbowYaw","LElbowRoll"] Arm1=[-40,25,0,-40] Arm1=[x*motion.TO_RAD for
x in Aram1]
Arm2=[-40,50,0,-80] Arm2=[x*motion.TO_RAD for x in Aram2]
pFractionMaxSpeed=0.6
motionProxy.angleInterpolationWithSpeed(JoinNames,Arms1,pFractionMaxSpeed)
motionProxy.angleInterpolationWithSpeed(JoinNames,Arms2,pFractionMaxSpeed)
motionProxy.angleInterpolationWithSpeed(JoinNames,Arms1,pFractionMaxSpeed)
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