Footsteps control

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

almotion_setFootStepDance.py


           
            #! /usr/bin/env python
# -*- encoding: UTF-8 -*-

"""Example: setFootStep - Small example to make Nao execute"""

import qi
import argparse
import sys

def main(session):
    """
    Use 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
    This example is only compatible with NAO.
    """
    # Get the services ALMotion & ALRobotPosture.

    motion_service = session.service("ALMotion")
    posture_service = session.service("ALRobotPosture")

    # Wake up robot
    motion_service.wakeUp()

    # Send robot to Stand Init
    posture_service.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 range_counter in range( nbStepDance ):
        for i in range( len(footStepsList) ):
            try:
                motion_service.setFootStepsWithSpeed(
                    footStepsList[i][0],
                    footStepsList[i][1],
                    [stepFrequency],
                    clearExisting)
            except Exception, errorMsg:
                print str(errorMsg)
                print "This example is not allowed on this robot."
                exit()


    motion_service.waitUntilMoveIsFinished()

    # Go to rest position
    motion_service.rest()


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="127.0.0.1",
                        help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
    parser.add_argument("--port", type=int, default=9559,
                        help="Naoqi port number")

    args = parser.parse_args()
    session = qi.Session()
    try:
        session.connect("tcp://" + args.ip + ":" + str(args.port))
    except RuntimeError:
        print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
               "Please check your script arguments. Run with -h option for help.")
        sys.exit(1)
    main(session)