.. _python-example-motion-cartesian:

Cartesian commands
==================

:ref:`\<\< return to examples index <example-index>`

This section contains examples showing cartesian commands on NAO's body.

Arms
----

Arm trajectories examples.

Trajectory 1
++++++++++++

:download:`motion_cartesianArm1.py </examples/python/motion/motion_cartesianArm1.py>`

.. literalinclude:: /examples/python/motion/motion_cartesianArm1.py
   :language: py

Trajectory 2
++++++++++++

:download:`motion_cartesianArm2.py </examples/python/motion/motion_cartesianArm2.py>`

.. literalinclude:: /examples/python/motion/motion_cartesianArm2.py
   :language: py

Feet
----

Control NAO's left foot.

:download:`motion_cartesianFoot.py </examples/python/motion/motion_cartesianFoot.py>`

.. literalinclude:: /examples/python/motion/motion_cartesianFoot.py
   :language: py

Torso
-----

Make NAO's torso take different positions.

Trajectory 1
++++++++++++

:download:`motion_cartesianTorso1.py </examples/python/motion/motion_cartesianTorso1.py>`

.. literalinclude:: /examples/python/motion/motion_cartesianTorso1.py
   :language: py

Hula Hoop
++++++++++++

:download:`motion_cartesianTorso2.py </examples/python/motion/motion_hulaHoop.py>`

.. literalinclude:: /examples/python/motion//motion_hulaHoop.py
   :language: py


Arms and torso
--------------

Control multiple effectors with cartesian commands.

Trajectory 1
++++++++++++

:download:`motion_cartesianTorsoArm1.py </examples/python/motion/motion_cartesianTorsoArm1.py>`

.. literalinclude:: /examples/python/motion/motion_cartesianTorsoArm1.py
   :language: py

Trajectory 2
++++++++++++

:download:`motion_cartesianTorsoArm2.py </examples/python/motion/motion_cartesianTorsoArm2.py>`

.. literalinclude:: /examples/python/motion/motion_cartesianTorsoArm2.py
   :language: py