.. _python-example-motion-wholebody:

Whole body motion
=================

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

This section contains examples showing various possibilities of Whole Body Motion.

Effector control
----------------

Control NAO's effectors, separately or simultaneously.

Head
++++

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

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

Arms
++++

:download:`motion_wbEffectorControlLArm.py </examples/python/motion/motion_wbEffectorControlArm.py>`

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

Multiple Effectors
++++++++++++++++++

Control arms and torso simultaneously.

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

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

Balance
-------

Balance constraints in whole body motion.

Balance constraint
++++++++++++++++++

Enable a balance constraint.

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

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

Kick
++++

Make NAO kick the air with its foot.

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

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

Foot state
----------

Constrain whole body balancer with foot state.

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

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