15 Jan

Reading the tutorial, made a behaviour box from scratch with coding in Python(other available option is Urbi)

It is named HelloWorld. First program.

Using various method from ALMotion Module's API, was able to move Nao forward then sidewards and then raise the hand and rotate the wrist and open hand to make a V shape from finger, tested both in Choregraphe and Nao.

The method used are:

• closeHand
• openHand
• gotoAngles
• addWalkStraight
• walkSideways
• walk

Walking methodology: For making Nao move, first a walk pattern has to be created using various available methods(e.g. addWalkStaright, walkSideways are few of them) then Nao is asked for walk using walk method.

For the above tasks, some other methods were also used which involved different coding style. These didn't worked out. Definition is clear but could not understand why these didn't worked properly(May be need to explore more).

• changeAngle
• getAngle

Note: Also graphically Choregraphe takes angle as degree but in codes it take angles as radians.

Next thing tried is to implement the kicking using the B-Human data. After coding in the simulation in Choregraphe local Nao was able to move leg at different position and able to lift left leg, but when tried it in real Nao it was not balanced it was falling everytime.

Together with above methods a new method was used, which is

• setPosition

May be the error is in interpretation of B-Human data!!!