'''Walk:small example to make nao walk'''
import sys
import motion
import time
from naoqi import ALProxy
def StiffnessOn(proxy):
 #we use the 'body' to signify the collection of all joints
 pName="Body"
 pStiffnessLists=1.0
 pTimeLists=1.0
 proxy.stiffnessInterpolation(pName,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 is ",e
 
   #set nao in stiffness on
   StiffnessOn(motionProxy)
 
   #send nao to pose init
   postureProxy.goToPosture("StandInit",0.5);
 
   #eable arms control by walk algorithm
   motionProxy.setWalkArmsEable(True,True)
   #foot contact protection
   motionProxy.setMotionConfig([["ENABLE_FOOT_CONTACT_PROTECTION",True]])
 
   #target velocity
   X=-0.5 #backward
   Y=0.0
   Theta=0.0
   Frequency=0.0#low speed
   motionProxy.setWalkTargetVelocity(X,Y.Theta,Frequency)
   time.sleep(4.0)
 
   #target velocity
   X=0.9
   Y=0.0
   Theta=0.0
   Frenqency=1.0#max speed
   motionProxy.setWalkTargetVelocity(X,Y,Theta,Frenquency)
   time.sleep(2.0)
 
   #arms user motion
   #arms motion from user have alwalys priority than walk arms motion
   JoinNames=["LShouderPitch","LShouderRoll","LElbowYaw","LElbowRoll"]
   Arm1=[-40,25,0,-40]
   Arm1=[x*motion.TO_RAD for x in Aram1]
   
   Arm2=[-40,50,0,-80]
   Arm2=[x*motion.TO_RAD for x in Aram2]
 
   pFractionMaxSpeed=0.6
 
   motionProxy.angleInterpolationWithSpeed(JoinNames,Arms1,pFractionMaxSpeed)
   motionProxy.angleInterpolationWithSpeed(JoinNames,Arms2,pFractionMaxSpeed)
   motionProxy.angleInterpolationWithSpeed(JoinNames,Arms1,pFractionMaxSpeed)
 
   #end walk
   X=0.0
   Y=0.0
   Theta=0.0
   motionProxy.setWalkTargetVelocity(X,Y,Theta,Frequency)
 
if __name__=="__main__":
 robotIP="192.168.1.155"
 if len(sys.argv)<=1:
  print "useage pyhton motion_walk.py robotIP,default is 127.0.0.1"
 else:
   robotIp=sys.argv[1]
 main(robotIP)