pyNAO is a collection of Yarp Modules to control the NAO.
1- Install the dependencies:
You need Yarp installed with the python bindings. For more details see full instructions.
Example: OSX using Homebrew
brew tap homebrew/x11
brew install --with-python yarp
2- Download the source code:
git clone https://github.com/BrutusTT/pyNAO
3- build and install:
cd pyNAO
python setup.py install
Each module can be started standalone using the following command line.
python -m pyNAO.<ModuleName> [--ip <IP Address>] [--port <Port>] [--name <Name Prefix>]
Parameters:
[] - denotes optional parameter
<ModuleName> - can be one of the following: - NaoController
<IP Address> - default is 127.0.0.1
<Port> - default is 9559
<Name Prefix> - if a name is given it will be used as a prefix for the port names
e.g.: --name test results in /test/<Module>/rpc
Example:
python -m pyNAO.NaoController --name MyRobot
The package contains Yarp modules that can be used to control the NAO robot. Once the modules are started, they provide RPC Ports.
The NAOController is used for high level control.
command message: "look (<near-far> <left-right> <down-up>)"
<near-far>: float - distance in meters [ 0.0, inf ]
<left-right>: float - distance in meters [ 0.0, inf ]
<down-up>: float - distance in meters [ 0.0, inf ]
Example:
look (1.0 0.5 0.0) - Looks to the left (Fixation Point: 1m in front + 50cm to the left side)
command message: "point <arm> (<near-far> <left-right> <down-up>)"
<arm>: string - "left" or "right"
<near-far>: float - distance in meters [ 0, inf ]
<left-right>: float - distance in meters [ 0, inf ]
<down-up>: float - distance in meters [ 0, inf ]
Example:
point left (1.0 0.5 0.0) - Points to the left (Point: 1m in front + 50cm to the left side)
Happy hacking!
See COPYING for licensing info.