写一段nao右脚踢足球的代码,要求先抬腿再踢且重心稳定
时间: 2023-12-03 22:42:35 浏览: 49
以下是使用 Choregraphe 软件编写的 NAO 右脚踢足球的代码:
1. 创建一个 "kick" 动作并添加以下步骤:
- 将右脚抬起到身体正前方
- 转移重心到左脚
- 向前踢球
- 将右脚放回原位
- 转移重心回到两只脚
2. 在代码中调用 "kick" 动作
```
# -*- coding: utf-8 -*-
import sys
from naoqi import ALProxy
NAO_IP = "nao.local"
NAO_PORT = 9559
# 连接 NAO
try:
motion_proxy = ALProxy("ALMotion", NAO_IP, NAO_PORT)
except Exception as e:
print("连接失败:", e)
sys.exit(1)
# 定义 "kick" 动作
kick_angles = [0.0, 25.0, 0.0, -90.0, 0.0, 0.0] # 需根据实际情况调整
def kick():
motion_proxy.angleInterpolationWithSpeed(["RHipPitch", "RKneePitch", "RAnklePitch", "RAnkleRoll"], kick_angles, 0.2)
motion_proxy.angleInterpolationWithSpeed(["LHipPitch", "LKneePitch", "LAnklePitch", "LAnkleRoll"], [20.0, 0.0, 0.0, 0.0], 0.2)
motion_proxy.angleInterpolationWithSpeed(["RAnklePitch", "RAnkleRoll"], [-10.0, 5.0], 0.2)
motion_proxy.angleInterpolationWithSpeed(["RHipPitch", "RKneePitch", "RAnklePitch", "RAnkleRoll"], [0.0, 25.0, 0.0, -90.0], 0.2)
motion_proxy.angleInterpolationWithSpeed(["LHipPitch", "LKneePitch", "LAnklePitch", "LAnkleRoll"], [0.0, 0.0, 0.0, 0.0], 0.2)
# 调用 "kick" 动作
kick()