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

# Footsteps control

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This example shows how to control NAO’s footsteps precisely. NAO executes a small dance.

`almotion_setFootStepDance.py`

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

    """Example: setFootStep - Small example to make Nao execute"""

    import qi
    import argparse
    import sys

    def main(session):
        """
        Use setFootStep - Small example to make Nao execute
            The Cha Cha Basic Steps for Men Using setFootStep API.
            http://www.dancing4beginners.com/cha-cha-steps.htm
        This example is only compatible with NAO.
        """
        # 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)

        ###############################
        # First we defined each step
        ###############################
        footStepsList = []

        # 1) Step forward with your left foot
        footStepsList.append([["LLeg"], [[0.06, 0.1, 0.0]]])

        # 2) Sidestep to the left with your left foot
        footStepsList.append([["LLeg"], [[0.00, 0.16, 0.0]]])

        # 3) Move your right foot to your left foot
        footStepsList.append([["RLeg"], [[0.00, -0.1, 0.0]]])

        # 4) Sidestep to the left with your left foot
        footStepsList.append([["LLeg"], [[0.00, 0.16, 0.0]]])

        # 5) Step backward & left with your right foot
        footStepsList.append([["RLeg"], [[-0.04, -0.1, 0.0]]])

        # 6)Step forward & right with your right foot
        footStepsList.append([["RLeg"], [[0.00, -0.16, 0.0]]])

        # 7) Move your left foot to your right foot
        footStepsList.append([["LLeg"], [[0.00, 0.1, 0.0]]])

        # 8) Sidestep to the right with your right foot
        footStepsList.append([["RLeg"], [[0.00, -0.16, 0.0]]])

        ###############################
        # Send Foot step
        ###############################
        stepFrequency = 0.8
        clearExisting = False
        nbStepDance = 2 # defined the number of cycle to make

        for range_counter in range( nbStepDance ):
            for i in range( len(footStepsList) ):
                try:
                    motion_service.setFootStepsWithSpeed(
                        footStepsList[i][0],
                        footStepsList[i][1],
                        [stepFrequency],
                        clearExisting)
                except Exception, errorMsg:
                    print str(errorMsg)
                    print "This example is not allowed on this robot."
                    exit()

        motion_service.waitUntilMoveIsFinished()

        # 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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