Footsteps controlΒΆ

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This example shows how to control NAO’s footsteps precisely. NAO executes a small dance.

motion_setFootStepDance.py

# -*- encoding: UTF-8 -*- 

''' setFootStep: Small example to make Nao execute     '''
'''              The Cha Cha Basic Steps for Men       '''
'''              Using setFootStep API                 '''
''' http://www.dancing4beginners.com/cha-cha-steps.htm '''
import sys
from naoqi import ALProxy


def StiffnessOn(proxy):
    # We use the "Body" name to signify the collection of all joints
    pNames = "Body"
    pStiffnessLists = 1.0
    pTimeLists = 1.0
    proxy.stiffnessInterpolation(pNames, 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

    try:
        postureProxy = ALProxy("ALRobotPosture", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALRobotPosture"
        print "Error was: ", e

    # Set NAO in stiffness On
    StiffnessOn(motionProxy)
    postureProxy.goToPosture("StandInit", 0.5)

    ###############################
    # First we defined each step
    ###############################
    footStepsList = []

    # 1) Step forward with your left foot
    footStepsList.append([["LLeg"], [[0.06, 0.1, 0.0]]])

    # 2) Sidestep to the left with your left foot
    footStepsList.append([["LLeg"], [[0.00, 0.16, 0.0]]])

    # 3) Move your right foot to your left foot
    footStepsList.append([["RLeg"], [[0.00, -0.1, 0.0]]])

    # 4) Sidestep to the left with your left foot
    footStepsList.append([["LLeg"], [[0.00, 0.16, 0.0]]])

    # 5) Step backward & left with your right foot
    footStepsList.append([["RLeg"], [[-0.04, -0.1, 0.0]]])

    # 6)Step forward & right with your right foot
    footStepsList.append([["RLeg"], [[0.00, -0.16, 0.0]]])

    # 7) Move your left foot to your right foot
    footStepsList.append([["LLeg"], [[0.00, 0.1, 0.0]]])

    # 8) Sidestep to the right with your right foot
    footStepsList.append([["RLeg"], [[0.00, -0.16, 0.0]]])

    ###############################
    # Send Foot step
    ###############################
    stepFrequency = 0.8
    clearExisting = False
    nbStepDance = 2 # defined the number of cycle to make

    for j in range( nbStepDance ):
        for i in range( len(footStepsList) ):
            motionProxy.setFootStepsWithSpeed(
                footStepsList[i][0],
                footStepsList[i][1],
                [stepFrequency],
                clearExisting)


if __name__ == "__main__":
    robotIp = "127.0.0.1"

    if len(sys.argv) <= 1:
        print "Usage python motion_setFootStepDance.py robotIP (optional default: 127.0.0.1)"
    else:
        robotIp = sys.argv[1]

    main(robotIp)