Synchronizing with walks
waitUntilWalkIsFinished
This method can be used to block your script/code execution until the walk task is totally finished.
# Start a walk proxy.post.walkTo(1.0, 0.0, 0.0, 1.0) # Wait for it to finish proxy.waitUntilWalkIsFinished() # Then do something else
walkIsActive
This method returns True while the walk task is active.
# start a 1 meter walk proxy.post.walkTo(1.0, 0.0, 0.0, 1.0) while proxy.walkIsActive(): # do something # sleep a little time.sleep(1) # when finished do something else
killWalk
This method will end the walk task brutally, without attempting to return to a balanced state. If NAO has one foot in the air, he could easily fall.
# End the walk suddenly (~20ms) proxy.killWalk()
To end the walk more gracefully, set the target velocity to zero.
# End the walk cleanly (~0.8s) proxy.setWalkTargetVelocity(0.0, 0.0, 0.0, 0.0)