Control Nao using fluent stanza of python 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() 

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

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;

To use FluentNao in choregraphe, check out the example behavior ./examples/choregraphe/fluentnao.crg

This behavior includes the FluentNao modules and classes as project references. It contains the python code needed to import and use FluentNao.

Try FluentNao in an python interactive shell, directly against a Nao on your local network 'nao.local'

First download the correct python sdk from the nao developers site to your computer

Then clone the FluentNao repository as well.

Include NaoUtil, FluentNao and the Python SDK in your python path; I put the following in my .bashrc

export PYTHONPATH=$PYTHONPATH:$HOME/development/opensource/FluentNao/src/main/python/naoutil
export PYTHONPATH=$PYTHONPATH:$HOME/development/opensource/FluentNao/src/main/python/fluentnao
export PYTHONPATH=$PYTHONPATH:$HOME/development/opensource/pynaoqi-python-2.7-naoqi-1.14-linux64

Then from the FluentNao folder run the following command

python -i bootstrap.py

That loads up the interactive python prompt and you can begin executing FluentNao commands directly against nao

nao.say('wow this is awesome')

I'm developing in Sublime Text 2 and Eclipse.

1. Clone the github repository
2. Check out ./examples/choregraphe/development/fluentnao_dev.crg

This behavior will run FluentNao modules and classes from your clone of the repository. This behavior can run the FluentNao modules and classes against the local naoqi or the simulator. When you update FluentNao, everything will be reloaded and changes will take effect immediately.

NOTE: you must update pathToFluentNao in the FluentNao Script Box