python小白求助

伊明丶

小弟在用python学习NAO机器人 想实现一个功能如下 不知用什么方法 没有一点思绪 希望大神可以给点指点。
在linux系统terminal中输入 python move_joint SOME_JOINTS_NAME 当SOME_JOINTS_NAME用具体关节替代时 具体关节可以动
比如输入 python move_joint HeadYaw，就会实现HeadYaw的这个功能
下面是个让头部关节动的代码：
# -*- encoding: UTF-8 -*-

# this script shows how to  move the head


import sys
import argparse
import time
from math import radians

from naoqi import ALProxy


DEFAULT_IP='127.0.0.1'
DEFAULT_PORT=9559

def stiffnessChangeHead(motionProxy, stiffness):

    pNames = [ "HeadYaw"]
    pStiffnessLists = stiffness
    pTimeLists = 1.0
    motionProxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)

# this function shows how to move just one joint
def moveHeadOneJoint(motionProxy, moveInSecs, holdSecs, moveOutSecs):
    calcTimes = [moveInSecs, moveInSecs + holdSecs, moveInSecs + holdSecs + moveOutSecs]
    # Joint names and angle lists must be in the same order.
    # There is one angle list for each joint name and each angle list has
    # the same number of elements as the times list above.
    # We supply angles in degrees and convert to radians using the math.radians function
   
    # see http://doc.aldebaran.com/2-1/family/robots/joints_robot.html
    # for joint names and permitted angle range
   
    # angle1 = target, angle2 = hold, angle3 = return to original
        
    names = ["HeadYaw"]
    times = [calcTimes, ]
    angles = [[radians(-119.5), radians(119.5), radians(0), ]] # HeadYaw

    motionProxy.angleInterpolation(names, angles, times, True);
def main():
    parser = argparse.ArgumentParser(description="Move Head")
    parser.add_argument('--ip', default=DEFAULT_IP, help='robot/naoqi IP address to use')
    parser.add_argument('--port', default=DEFAULT_PORT, help='robot/naoqi port to use')

    args = parser.parse_args()

    try:
        motionProxy = ALProxy("ALMotion", args.ip, args.port)

    except Exception, e:
        print "Could not create proxy"
        print "Error was: ", e
        return

    stiffnessChangeHead(motionProxy, 0.7) # switch on stiffness
    moveHeadOneJoint(motionProxy, 1.0, 2.0, 1.0)
    stiffnessChangeHead(motionProxy, 0.0) # switch off stiffness

#
# This is where the script starts executing and it simply calls the function
# main to get everything going
#
if __name__ == "__main__":
    main()
    print("the range of degree is -119.5 to 119.5")

伊明丶

第一次发帖子，不太知道规矩，不好意思。