Hi everybody,

A new version of Choregraphe is going to be released: 1.8.

New features:

  • Now it is possible to add embedded files to the choregraphe project
  • the first Nao’s behaviors manager is released
  • you can add properties to a box

In this tutorial, my goal is to give an overview of choregraphe basic features.

I. Create a new “hello world” box

First, create a new box from scratch.

  • Launch Choregraphe and right click on the central panel (Diagram editor) then select “Add a new box”.

  • Fill the fields “box name” and “tooltip”. You can select a box icon in the image field (prefer to use the default Choregraphe images). Tooltips are highly recommended.
  • In the box offspring select “timeline”. In my tutorials, I prefer to use the timeline systematically because there is no difference between offspring modes, except that Choregraphe GUI shows only a subpart of the box (script or diagram).

  • Click Ok.

II. Fill the “hello world” box

  • Connect the main onStart input to the onStart input of the box.
  • Connect the onStopped to the main onStopped output.

  • Double click on your new box to edit it.

  • Then, create a new behavior layer by clicking the + button on the right of the behavior layer text.

  • Select this new keyframe. Drag and drop the “hello” box from the motion directory in the boxes library.

III. Run the “hello world” box

  • Click the green play button on the top bar or use F5 under Windows OS and ⌘+r under OS-X

You can see a green spot going from the onLoad input to the “hello” box. At the same time, a red index is running along the timeline. On the 3D view, the upper body of your virtual Nao is moving. The red index stops when “My hello World” onStopped output is called.

At this point you must see something like this:

Run Tuto 1 arm movement

Get the Flash Player to see this player.

IV. Save your project as CRG file

CRG is the new choregraphe project format. Concretely, this format corresponds to a compressed folder.

V. Tip&tricks: Save your project as a directory!

In this new 1.8 version, you can save your project as a directory. It is very useful to edit your attached files directly, or to store your behaviors in a versioning system such as GIT, SVN, Mercurial, CVS, …

  • Press alt key and click “save” or “save as“.

IMPORTANT: To open a directory as a project press alt and click on open project from the file menu.

VI. Connect choregraphe to your Nao

  • First of all, be sure that your Nao is connected to your local network (using ethernet or WiFi)

  • Click the Choregraphe “connect button”

  • Select your Nao from the list

- a green Nao icon represents a selectable Nao.
- a red Nao icon means that a robot is detected, but NaoQi (main executable) is not running.
- a dashed Nao icon represents the virtual Nao of another Choregraphe in the network.
- the Nao service discovery system uses Bonjour from Apple.
- You can use directly the robot IP.
- You can load the Nao Configuration page by right clicking. This embedded page allows you to set
the robot's parameters such as WiFi, Name, Language, Infrared data code, NaoQi reset, ...
- Stars allow you to declare a robot as your favorite robot (very useful if you have many robots
in the LAN ;) )

VII. Play your behavior on your real Nao!

From now on your robot is going to move. I recommend you to keep a hand on it (take care of your fingers) and keep your Nao away from your table’s edges. Nao is designed to fall from his own height, but not from a table.

The behavior we created uses only the robot arms. Legs are not used.

  • First put your Nao in the crouched position

  • Click the stiffness button (don’t be surprised by the position adjustment)

  • Click the Play button

  • Release the stiffness by clicking again the stiffness button

Keep a hand on your robot!
Crouching is a not a stable position!
Prefer the sit down position when you let Nao alone.

VIII. Start from the sit down position

  • Move your robot to the “sit down” position

  • Keep a free space around your robot (put it on the ground)

  • Return to the behavior root by clicking the “root” button

  • Add a “Stand up” box before “My Hello World” box and a “Sit down” box after

  • Put the stiffness On
  • Play the behavior
  • Put the stiffness Off

IX. Make Nao say something

  • Return to “root”/”My Hello World”

  • Drag & drop the setLanguage bos and the say box from the library

  • Click the wrench to set the parameters:

setLanguage: English

Say: Hello you, I’m happy to be here