# SoftBank Robotics documentation What's new in NAOqi 2.8?

# Sensors

<< return to Python examples

This section shows how to get sensors values from ALMemory in Python.

To execute them, modify the robot’s IP adress inside the example file.

## FSR values

`sensors_getFsrValues.py`

    #! /usr/bin/env python
    # -*- encoding: UTF-8 -*-

    """Example: Use getData Method to Use FSR Sensors"""

    import qi
    import argparse
    import sys

    def main(session):
        """
        This example uses the getData method to use FSR sensors.
        """
        # Get the service ALMemory.

        memory_service = session.service("ALMemory")

        # Get The Left Foot Force Sensor Values
        LFsrFL = memory_service.getData("Device/SubDeviceList/LFoot/FSR/FrontLeft/Sensor/Value")
        LFsrFR = memory_service.getData("Device/SubDeviceList/LFoot/FSR/FrontRight/Sensor/Value")
        LFsrBL = memory_service.getData("Device/SubDeviceList/LFoot/FSR/RearLeft/Sensor/Value")
        LFsrBR = memory_service.getData("Device/SubDeviceList/LFoot/FSR/RearRight/Sensor/Value")

        print( "Left FSR [Kg] : %.2f %.2f %.2f %.2f" %  (LFsrFL, LFsrFR, LFsrBL, LFsrBR) )

        # Get The Right Foot Force Sensor Values
        RFsrFL = memory_service.getData("Device/SubDeviceList/RFoot/FSR/FrontLeft/Sensor/Value")
        RFsrFR = memory_service.getData("Device/SubDeviceList/RFoot/FSR/FrontRight/Sensor/Value")
        RFsrBL = memory_service.getData("Device/SubDeviceList/RFoot/FSR/RearLeft/Sensor/Value")
        RFsrBR = memory_service.getData("Device/SubDeviceList/RFoot/FSR/RearRight/Sensor/Value")

        print( "Right FSR [Kg] : %.2f %.2f %.2f %.2f" %  (RFsrFL, RFsrFR, RFsrBL, RFsrBR) )

    if __name__ == "__main__":
        parser = argparse.ArgumentParser()
        parser.add_argument("--ip", type=str, default="127.0.0.1",
                            help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
        parser.add_argument("--port", type=int, default=9559,
                            help="Naoqi port number")

        args = parser.parse_args()
        session = qi.Session()
        try:
            session.connect("tcp://" + args.ip + ":" + str(args.port))
        except RuntimeError:
            print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
                   "Please check your script arguments. Run with -h option for help.")
            sys.exit(1)
        main(session)

## Inertial Sensor values

`sensors_getIntertialValues.py`

    #! /usr/bin/env python
    # -*- encoding: UTF-8 -*-

    """Example: Use getData Method to Get Inertial Values"""

    import qi
    import argparse
    import sys

    def main(session):
        """
        This example uses the getData method to get Inertial Values.
        """
        # Get the service ALMemory.

        memory_service = session.service("ALMemory")

        # Get the Gyrometers Values
        GyrX = memory_service.getData("Device/SubDeviceList/InertialSensor/GyroscopeX/Sensor/Value")
        GyrY = memory_service.getData("Device/SubDeviceList/InertialSensor/GyroscopeY/Sensor/Value")
        print ("Gyrometers value X: %.3f, Y: %.3f" % (GyrX, GyrY))

        # Get the Accelerometers Values
        AccX = memory_service.getData("Device/SubDeviceList/InertialSensor/AccelerometerX/Sensor/Value")
        AccY = memory_service.getData("Device/SubDeviceList/InertialSensor/AccelerometerY/Sensor/Value")
        AccZ = memory_service.getData("Device/SubDeviceList/InertialSensor/AccelerometerZ/Sensor/Value")
        print ("Accelerometers value X: %.3f, Y: %.3f, Z: %.3f" % (AccX, AccY,AccZ))

        # Get the Compute Torso Angle in radian
        TorsoAngleX = memory_service.getData("Device/SubDeviceList/InertialSensor/AngleX/Sensor/Value")
        TorsoAngleY = memory_service.getData("Device/SubDeviceList/InertialSensor/AngleY/Sensor/Value")
        print ("Torso Angles [radian] X: %.3f, Y: %.3f" % (TorsoAngleX, TorsoAngleY))

    if __name__ == "__main__":
        parser = argparse.ArgumentParser()
        parser.add_argument("--ip", type=str, default="127.0.0.1",
                            help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
        parser.add_argument("--port", type=int, default=9559,
                            help="Naoqi port number")

        args = parser.parse_args()
        session = qi.Session()
        try:
            session.connect("tcp://" + args.ip + ":" + str(args.port))
        except RuntimeError:
            print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
                   "Please check your script arguments. Run with -h option for help.")
            sys.exit(1)
        main(session)

## Sonar

`sensors_sonar.py`

    #! /usr/bin/env python
    # -*- encoding: UTF-8 -*-

    """Example: Use getData Method to Use Sonars Sensors"""

    import qi
    import argparse
    import sys

    def main(session):
        """
        This example uses the getData method to use sonars sensors.
        """
        # Get the services ALMemory and ALSonar.

        memory_service = session.service("ALMemory")
        sonar_service = session.service("ALSonar")

        # Subscribe to sonars, this will launch sonars (at hardware level)
        # and start data acquisition.
        sonar_service.subscribe("myApplication")

        # Now you can retrieve sonar data from ALMemory.
        # Get sonar left first echo (distance in meters to the first obstacle).
        memory_service.getData("Device/SubDeviceList/US/Left/Sensor/Value")

        # Same thing for right.
        memory_service.getData("Device/SubDeviceList/US/Right/Sensor/Value")

        # Unsubscribe from sonars, this will stop sonars (at hardware level)
        sonar_service.unsubscribe("myApplication")

        # Please read Sonar ALMemory keys section
        # if you want to know the other values you can get.

    if __name__ == "__main__":
        parser = argparse.ArgumentParser()
        parser.add_argument("--ip", type=str, default="127.0.0.1",
                            help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
        parser.add_argument("--port", type=int, default=9559,
                            help="Naoqi port number")

        args = parser.parse_args()
        session = qi.Session()
        try:
            session.connect("tcp://" + args.ip + ":" + str(args.port))
        except RuntimeError:
            print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
                   "Please check your script arguments. Run with -h option for help.")
            sys.exit(1)
        main(session)

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