Step Control

The stepTo method makes NAO do a single Step and can be used to create dance-like movements. As it is implemented by the walk task, the step will be stabilized.

The stepTo method can only be called if there is no other walk process active. (Velocity Control or Destination Control) and will block the walk task until it is finished. The StepTo method is a blocking function

Parameters

legName: a string with the name of the leg to move ("LLeg" or "RLeg").
x: the distance in meters along X axis relative to the support Leg.
y: the distance in meters along Y axis relative to the support Leg. (0.0 is equivalent to place the leg to a distance of "Foot Separation")
theta: the final foot orientation in radians relative to the support foot.

Example


          # A small step forwards and anti-clockwise rotation with the left foot
          Leg = 'Leg'
          X = 0.02
          Y = 0.0
          Theta = 0.30
          proxy.stepTo(Leg, X, Y, Theta)

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