NAO Motion Options

"motion" module (ALMotion in SDK)

• Individual joints can be controlled for precise moves - see  http://www.aldebaran-robotics.com/en/node/1166 for joint names and ranges
• 'Effectors' can be individually controlled: these are chains of joints for RLeg, LLeg, RArm, LArm, Head, Torso
• Walking - there is an omni directional walk mode
• Whole Body Motion - set either On or Off used for balance and to control movement of effectors.

Some of the methods from ALMotion that might be useful:

• openHand
• closeHand
• getRobotPosition
• setWalkTargetVelocity
• stepTo
• walkTo
• waitUntilWalkIsFinished
• killWalk

there are more described in docs plus details of methods to set individual joint angles and effector positions.

ALMotionRecorder module - this might be useful as you can record movement sequences direct from moving NAO.