Navi 四足机器人 SDK

# 在机器人上（aarch64）
pip install wheels/ff_sdk-0.1.0a0-cp310-cp310-linux_aarch64.whl

# 在 Linux 开发机上（x86_64）
pip install wheels/ff_sdk-0.1.0a0-cp310-cp310-linux_x86_64.whl

python -c "import ff_sdk; print(ff_sdk.__version__)"

import asyncio, ff_sdk

async def main():
    async with await ff_sdk.connect("NV-DEMO") as dog:
        print(dog.diagnose())

        # —— 标准能力（跨平台同一套写法）——
        await dog.motion.stand()                 # 站立就绪
        await asyncio.sleep(6)

        await dog.motion.cmd_vel(linear=0.2)     # 前进
        await asyncio.sleep(2)
        await dog.motion.stop()

        battery = await dog.state.battery()
        print(f"电量 {battery.percent:.0%}")

        # —— Navi 专属扩展 ——
        nv = dog.navi
        actions = await nv.list_actions()        # 全部可用扩展动作
        await nv.do_action(20542)                # 招手
        await nv.play_emoji("happy")             # 表情

        await dog.motion.damping()               # 收尾

asyncio.run(main())

from ff_sdk import Config

cfg = Config.from_env()
cfg.extra["navi_host"] = "192.168.1.77"
cfg.extra["navi_variant"] = "a100_dev"     # a100_dev | devq | mini
dog = await ff_sdk.connect("NV-DEMO", config=cfg)

nv = dog.navi
if nv is None:
    print("此变体不提供扩展命名空间（Mini / DevQ）")
else:
    await nv.do_action(20542)

import math

await dog.motion.stand()
await asyncio.sleep(6)

for _ in range(4):                              # 走一个正方形
    await dog.motion.cmd_vel(linear=0.25)       # 直行
    await asyncio.sleep(3)
    await dog.motion.cmd_vel(angular=math.pi/4) # 原地转 90°
    await asyncio.sleep(2)

await dog.motion.stop()

actions = await dog.navi.list_actions()

def find_id(actions, keyword: str) -> int | None:
    for act in actions.items:          # (id, name) 列表
        if keyword in act.name:
            return act.id
    return None

wave_id = find_id(actions, "wave")
if wave_id is not None:
    result = await dog.navi.do_action(wave_id, hold_time=4.0)
    print(result)

# 草地：抬高脚 + 保守速度
await dog.navi.set_foot_height(0.08)
await dog.navi.set_collision_protect(True)
await dog.motion.cmd_vel(linear=0.15)

nv = dog.navi
await nv.play_emoji("happy")
await nv.do_action(20542, hold_time=4.0)    # 招手
await nv.do_action(20567, hold_time=8.0)    # 抖肩舞
await nv.do_action(20510, hold_time=4.0)    # 鞠躬谢幕
await dog.motion.damping()

from ff_sdk import skills

await skills.wave(dog)        # Navi 上自动映射为扩展动作“招手”
await skills.bow(dog)         # → 扩展动作“鞠躬”
await skills.greet(dog, "朋友")

report = dog.diagnose()
print(report)   # 控制通道连通性、变体识别结果