python程序控制NAO机器人行走

python程序控制程序控制NAO机器人行走机器人行走

主要为大家详细介绍了python程序控制NAO机器人行走，具有一定的参考价值，感兴趣的小伙伴们可以参考一

下

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

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

#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]])

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)

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)