# -*- encoding: UTF-8 -*- 

''' Whole Body Motion: Enable Balance Constraint '''

import sys
import math
from naoqi import ALProxy


def StiffnessOn(proxy):
    # We use the "Body" name to signify the collection of all joints
    pNames = "Body"
    pStiffnessLists = 1.0
    pTimeLists = 1.0
    proxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists)


def main(robotIP):
    ''' Example of a whole body Enable Balance Constraint
        Warning: Needs a PoseInit before executing
                 Whole body balancer must be inactivated at the end of the script
    '''

    # Init proxies.
    try:
        motionProxy = ALProxy("ALMotion", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALMotion"
        print "Error was: ", e

    try:
        postureProxy = ALProxy("ALRobotPosture", robotIP, 9559)
    except Exception, e:
        print "Could not create proxy to ALRobotPosture"
        print "Error was: ", e

    # Set NAO in Stiffness On
    StiffnessOn(motionProxy)

    # Send NAO to Pose Init
    postureProxy.goToPosture("StandInit", 0.5)

    # Activate Whole Body Balancer
    isEnabled  = True
    motionProxy.wbEnable(isEnabled)

    # Legs are constrained in a plane
    stateName  = "Fixed"
    supportLeg = "Legs"
    motionProxy.wbFootState(stateName, supportLeg)

    # Constraint Balance Motion
    isEnable   = True
    supportLeg = "Legs"
    motionProxy.wbEnableBalanceConstraint(isEnable, supportLeg)

    # KneePitch angleInterpolation
    # Without Whole Body balancer, foot will fall down
    names      = ["LKneePitch", "RKneePitch"]
    angleLists = [ [0.0, 40.0*math.pi/180.0], [0.0, 40.0*math.pi/180.0]]
    timeLists  = [ [5.0, 10.0], [5.0, 10.0]]
    isAbsolute = True
    motionProxy.angleInterpolation(names, angleLists, timeLists, isAbsolute)

    # Deactivate Whole Body Balancer
    isEnabled  = False
    motionProxy.wbEnable(isEnabled)


if __name__ == "__main__":
    robotIp = "127.0.0.1"

    if len(sys.argv) <= 1:
        print "Usage python motion_wbEnableBalanceConstraint.py robotIP (optional default: 127.0.0.1)"
    else:
        robotIp = sys.argv[1]

    main(robotIp)