#NAOROBOT

Choregraphe (2.1.2)

It’s a graphical interface to program NAO(downloadable after creating an account on Community)

Main Plane

Simulator

Boxes

Dedicated LibraryFor this workshop, you’ll need to add a library.It’s called Library_Kids_NAOWorkshop.cbl

It contains 3 boxes: LookAround, RaiseArm, LowerHand

Click « open box library »and select the .cbl file

What’s a box?

A box contains some code executing a specific action It’s mainly Python code

Also, a box can be made of other boxes

A box can have different outputs

Input Output

Parameters

Edit the box: double clickStop box

Goal of the workshop

• Setup NAO

• Locate someone and walk to that person

• Ask for an handkerchief

• Grab it

• Ask where to drop it

• Go to this specific place and drop the handkerchief

Sounds easy, right?

Now let’s launch Choregraphe and start a new project!

Define language

Set language box

-> set parameters to english

-> connect to the beginning

Wait for me before starting!

Tactile Head box

-> connect to previous box

-> select one zone (output) that youwill touch to launch the behavior

(let’s take the first one) and connectthe output so as to stop the box when pressed

Let’s start!

Motor On/Off box

-> connect to previous box

-> set parameter to « on »

Stand Up box

-> connect to previous box

-> if box fails, connect the right output to end of the behavior

Is someone here?

Two things at the same time once NAO is standing:LookAround box-> connect to previous box

Face Detection box-> connect to previous box-> when it finds a face, it must stop itself and the LookAround box

OK, let me get closer to you!

Face Tracker box

-> connect to previous box (Face Detection)

-> edit parameters: mode must beset to « move »

-> when target is reached, the box stops itself

I have a question for you

Say box

-> connect to previous box

-> edit the box (double click)

1) make sure language is set to

english

2) add text « Hello! Can you please

give me a handkerchief? »

-> click on root to go back to main plane

Give it to me 1/2

RaiseArm box-> connect to previous box

Hands box-> connect to previous box-> edit parameters:

1) select left hand2) select « open »

Choice box-> connect to previous box-> edit the box

1) select « english »2) add text « can I close my hand? Yes or

no? »3) create a new output and connect it to

the « No » answer

Give it to me 2/2

If the answer is yes (mid output)

Hands box

-> edit parameters to close lefthand

If the answer is no (last output):

Wait box

-> connect to previous box

-> edit parameters and set timeout to 1s

-> connect the output to choice box to relaunch the process

What should I do with this?

Choice box

-> connect to previous box

-> edit the box

1) select « english »

2) add text « Thanks! Should I drop it in the trash or put it on the table? Tell me: trash or table? »

3) add choice « trash » & « table »

4) create an output for « table » and connect it correctly

Where’s the right place? 1/3

Let’s do the first option:

->Connect the first output of Choice box to the LookAround box

NAOMark box

-> connect to previous box (Choice)

Switch Case box

-> connect to previous box (NAOMark)

Where’s the right place? 2/3

Let’s do the first option:Switch Case box:-> enter value 85-> connect the first output back to NAOMark box to relaunch it-> connect the second output to stop the NAOMark box and to stop the LookAround box

Landmark Tracker box:-> connect to previous box-> edit parameters and set mode to « move »-> connect last output (target reached) to stop the box

Where’s the right place? 3/3

Let’s repeat this for the second option:

-> Add all the boxes and connectthem correctly

-> This time, NAO will be lookingfor NAOMark 63

Let me get rid of this

Let’s do the first option:

LowerHand box:

-> connect both landmark trackerbox « target reached » outputs to launch the box

Hands box:

-> connect to previous box

-> edit parameters to open lefthand

-> connect output to the end of the program

Bonus (after testing)

How can we enhanced the user experience?

- Get NAO to present what is going to happen at the beginning of the app

- Get NAO to sit after he’s completely finished

- What else would you add?