class MyClass(GeneratedClass):
    def __init__(self):
        GeneratedClass.__init__(self)

    def onLoad(self):
        #put initialization code here
        pass

    def onUnload(self):
        #put clean-up code here
        pass

    def onInput_onStart(self):
        motionProxy = ALProxy("ALMotion")  
        postureProxy = ALProxy("ALRobotPosture")
        motionProxy.wakeUp()
        postureProxy.goToPosture("StandInit", 0.5)
        motionProxy.moveTo(0.2, 0.1, 0,
            [ ["MaxStepX", 0.02],         # step of 2 cm in front
              ["MaxStepY", 0.16],         # default value
              ["MaxStepTheta", 0.4],      # default value
              ["MaxStepFrequency", 0.0],  # low frequency
              ["StepHeight", 0.01],       # step height of 1 cm
              ["TorsoWx", 0.0],           # default value
              ["TorsoWy", 0.1] ])         # torso bend 0.1 rad in front
        pass

    def onInput_onStop(self):
        self.onUnload() #it is recommended to reuse the clean-up as the box is stopped
        self.onStopped() #activate the output of the box