资源简介
nao机器人抓取程序，python的代码程序亲测可用， 谢谢支持。
代码片段和文件信息
# -*- encoding: UTF-8 -*-
‘‘‘Walk: Small example to make Nao walk‘‘‘
‘‘‘ This example is only compatible with NAO ‘‘‘
import argparse
import motion
import time
import almath
from naoqi import ALProxy
def footmove（motionProxy）:
x = 1.0
y = 1.0
theta = 0.0
frequency = 0.5
motionProxy.moveToward（x y theta [[“Frequency“ frequency]]）
# Lets make him stop after 3 seconds
motionProxy.stopMove（）
def userArmArticular1（motionProxy）:
# Arms motion from user have always the priority than walk arms motion
JointNames = [“LShoulderPitch“ “LShoulderRoll“ “LElbowYaw“ “LElbowRoll““LWristYaw““LHand“]
Arm1 = [76.535.0-63.5-59.6-39.30]
Arm1 = [ x * motion.TO_RAD for x in Arm1]
pFractionMaxSpeed = 0.1
motionProxy.angleInterpolationWithSpeed（JointNames Arm1 pFractionMaxSpeed）
def userArmArticular2（motionProxy）:
# Arms motion from user have always the priority than walk arms motion
JointNames = [“LShoulderPitch“ “LShoulderRoll“ “LElbowYaw“ “LElbowRoll““LWristYaw““LHand“]
Arm2 = [70.525.0-63.5-59.6-39.31]
Arm2 = [x * motion.TO_RAD for x in Arm2]
pFractionMaxSpeed = 0.1
motionProxy.angleInterpolationWithSpeed（JointNames Arm2 pFractionMaxSpeed）
def userArmArticular3（motionProxy）:
# Arms motion from user have always the priority than walk arms motion
JointNames = [“LShoulderPitch“ “LShoulderRoll“ “LElbowYaw“ “LElbowRoll“ “LWristYaw“ “LHand“]
Arm3 = [67.8 19 -62.8 -58.6 -24 1]
Arm3 = [x * motion.TO_RAD for x in Arm3]
pFractionMaxSpeed = 0.1
motionProxy.angleInterpolationWithSpeed（JointNames Arm3 pFractionMaxSpeed）
def userArmArticular4（motionProxy）:
# Arms motion from user have always the priority than walk arms motion
JointNames = [“LShoulderPitch“ “LShoulderRoll“ “LElbowYaw“ “LElbowRoll““LWristYaw““LHand“]
Arm3 = [67.24.9-57.8-58.6-241]
Arm3 = [x * motion.TO_RAD for x in Arm3]
pFractionMaxSpeed = 0.1
motionProxy.angleInterpolationWithSpeed（JointNames Arm3 pFractionMaxSpeed）
def main（robotIP PORT=9559）:
motionProxy = ALProxy（“ALMotion““127.0.0.1“2948）
postureProxy = ALProxy（“ALRobotPosture““127.0.0.1“2948）
# Wake up robot
motionProxy.wakeUp（）
# Send robot to Stand
postureProxy.goToPosture（“StandInit“ 0.5）
#####################
## Enable arms control by Motion algorithm
#####################
motionProxy.setMoveArmsEnabled（True True）
# motionProxy.setMoveArmsEnabled（False False）
footmove（motionProxy）
time.sleep（3.0）
#####################
## FOOT CONTACT PROTECTION
#####################
#motionProxy.setMotionConfig（[[“ENABLE_FOOT_CONTACT_PROTECTION“ False]]）
userArmArticular1（motionProxy）
time.sleep（1.0）
userArmArticular2（motionProxy）
time.sleep（1.0）
motionProxy.openHand（‘LHand‘）
motionP属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
文件 3692 2018-12-18 18:19 nao机器人抓取程序.py
文件 167 2018-12-18 18:19 README.md
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