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

# Stiffness

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Turns the stiffness on and off.

## Stiffness on

`almotion_stiffnessOn.py`

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

    """Example: Stiffness On - Active Stiffness of All Joints and Actuators"""

    import qi
    import argparse
    import sys
    import time

    def main(session):
        """
        Stiffness On - Active Stiffness of All Joints and Actuators.
        This example is only compatible with NAO.
        """
        # Get the services ALMotion & ALRobotPosture.

        motion_service = session.service("ALMotion")

        # We use the "Body" name to signify the collection of all joints
        names = "Body"
        stiffnessLists = 1.0
        timeLists = 1.0
        motion_service.stiffnessInterpolation(names, stiffnessLists, timeLists)

        # print motion state
        print motion_service.getSummary()

        time.sleep(2.0)

        # 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)

## Stiffness off

Warning

Please make sure that the robot is not standing before trying this example.

`almotion_stiffnessOff.py`

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

    """Example : Stiffness Off - remove stiffness of all joints and actuators"""

    import qi
    import argparse
    import sys

    def main(session):
        """
        Stiffness Off - remove stiffness of all joints and actuators.
        This example is only compatible with NAO.
        """
        # Get the service ALMotion.

        motion_service = session.service("ALMotion")

        # We use the "Body" name to signify the collection of all joints
        names = "Body"
        stiffnessLists = 0.0
        timeLists = 1.0
        motion_service.stiffnessInterpolation(names, stiffnessLists, timeLists)

        # print motion state
        print motion_service.getSummary()

    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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