.. _python-example-motion-walk:

Walk
====

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

This section contains several python example on walk, both for standard walk and
for customized walk.

Simple walk
-----------

These examples show how to use Aldebaran normal walk.

Walk
++++

Make NAO walk backwards, forwards, and turn.

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

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

Walk to
+++++++

Make NAO walk to an objective.

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

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

Walk faster
+++++++++++

Make NAO walk with greater step length.

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

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

Customized walk
---------------

Walk customization
++++++++++++++++++

Make NAO do a custom walk: NAO is limping and then walking correctly, just like Keyser Sose in *The Usual Suspects*.

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

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

Walk to customization
+++++++++++++++++++++

Make NAO walk to an objective with custom feet gait config.

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

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

Dubins curve
++++++++++++

Make NAO walk along a dubins curve.

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

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

Move head while walking
+++++++++++++++++++++++

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

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