python简单实现nao机器人身体躯干和腿部的动作

跟上一篇类似，代码没什么难度，可以进行扩展。

#-*-encoding:UTF-8-*-'''control nao's left foot,    cartesian control:torso and foot trajectories    '''import sysimport motionfrom naoqi import ALProxydef StiffnessOn(proxy):               pNmaes="Body"               pStiffnessLists=1.0               pTimeLists=1.0               proxy.stiffnessInterpolation(pName,pStiffnessLists,pTimeLists)def main(robotIP):               '''example of cartesian foot trajectory               '''               try :                              motionProxy=ALProxy("ALMotion",robotIP,9559)               except Exception,e:                              print "could not create a proxy"                              print "error is ",e                              try:                              postureProxy=ALProxy("ALRobotPosture",robotIP,9559)                              except  Exception ,e:                              print "could not create a proxy"                              print"error is",e               StiffnessOn(motionProxy)               #send nao to pose init               postureProxy.goToPosture("StandInit",0.5)               space=motion .FRAME_ROBOT               AxisMask=almath.AXIS_MASK_VEL               isAbsolute=False               path=[0.0,-0.07,-0.03,0.0,0.0,0.0]               #lower the torso and move the size               effector="Torso"               time=2.0               motionProxy.positionInterpolation(effector,space,path,axisMask,time,isAbsolute)               #lleg motion               effector="LLeg"               path=[0.0,0.06,0.00,0.0,0.0,0.0]               times=2.0               motionProxy.positionInterpolation(effector,space,axisMask,time,isAbsolute)               if __name__=="__main__":               robotIP="127.0.0.1"               if len(sys.argv)<=1:                              print "usage python robotIP"               else:                              robotIP=sys.argv[1]               main(robotIP)