FluentNao

Control Nao using fluent stanza of python code.

SETUP

Edit the bootstrap.py and set your nao's ipaddress on line 10 (remember to use YOUR nao's ipaddress)

naoIp = "192.168.1.18"

Edit src/main/python/fluentnao/nao.py

Docker

Times have changed and naoqi has not been kept up-to-date. So we'll begin by building a docker image

docker-compose build fluentnao

Starting up an interactive shell

docker-compose run fluentnao bash

Running the old reliable bootstrap shell script

./bootstrap

That loads up the interactive python prompt and you can use the commands below to control nao

nao.say('wow this is awesome')

If you'd like to see nao be interactive and conscious run this one

./nao-conscious

tap the head sensor in the back to deactivate

Example Code

Example code using Fluent Nao

# zero out joints
nao.zero().go()

# arms up
nao.say("raising my hands") 
nao.arms.up()
nao.go() 

# hands open
nao.say("opening my hands") 
nao.hands.open()
nao.go() 

Duration of Movement

You can specify a number of seconds to take for each command or stanza. We use the setDuration() to set the duration globally for every function that follows

# sets duration to half a second 
nao.set_duration(.5)

We can override the default duration in each motion function

# open hands in half a second
nao.hands.open()

# put arms out in 4 seconds
nao.arms.out(4)
nao.go()

NOTE: passing in a duration of 0 will be ignored

Offsets

You can offset any motion, adding more or less degrees of movement. For example

# zero out joints
nao.zero().go()

# put arms up minus 30 degrees
nao.arms.up(0, -30)

NOTE: the zero is duration telling the api to ignore that argument;