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

# Poses

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This section shows how to make NAO go to poses Pose Init and Pose Zero outside Choregraphe.

## Pose Init

Make NAO go to a good initial position.

`almotion_poseInit.py`

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

    """Example: PoseInit - Small example to make Nao go to an initial position."""

    import qi
    import argparse
    import sys

    def main(session):
        """
        PoseInit: Small example to make Nao go to an initial position.
        """
        # Get the services ALMotion & ALRobotPosture.

        motion_service = session.service("ALMotion")
        posture_service = session.service("ALRobotPosture")

        # Wake up robot
        motion_service.wakeUp()

        # Send robot to Stand Init
        posture_service.goToPosture("StandInit", 0.5)

        # Go to rest position
        motion_service.rest()

    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)

## Pose Zero

Put all NAO motors to zero.

`almotion_poseZero.py`

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

    """Example: PoseZero: Set all the motors of the body to zero."""

    import qi
    import argparse
    import sys

    def main(session):
        """
        Use the goToPosture Method to PoseZero.
        Set all the motors of the body to zero.
        """
        # Get the services ALMotion & ALRobotPosture.

        motion_service = session.service("ALMotion")
        posture_service = session.service("ALRobotPosture")

        # Wake up robot
        motion_service.wakeUp()

        # Send robot to Stand Zero
        posture_service.goToPosture("StandZero", 0.5)

        # We use the "Body" name to signify the collection of all joints and actuators
        #pNames = "Body"

        # Get the Number of Joints
        #numBodies = len(motion_service.getBodyNames(pNames))

        # We prepare a collection of floats
        #pTargetAngles = [0.0] * numBodies

        # We set the fraction of max speed
        #pMaxSpeedFraction = 0.3

        # Ask motion to do this with a blocking call
        #motion_service.angleInterpolationWithSpeed(pNames, pTargetAngles, pMaxSpeedFraction)

        # Go to rest position
        motion_service.rest()

    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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