Webots for NAO¶

What is Webots for NAO¶

Webots for NAO allows you to launch a simulated NAO moving in a virtual world.
It offers a safe place to test behaviors before playing them on a real robot.

Webots for NAO is a specific release of Webots 7, exclusively dedicated to the use of a simulated NAO.

It offers predefined NAO simulations with their ready-to-use controllers.

What it is not¶

Webots for NAO is a lite version of Webots, it is not designed to let you use other robots nor create new robot controllers.

Installing Webots for NAO¶

To install Webots for NAO:

Step Action

Retrieve the installer Webots for NAO for your operating system:

Windows: webots-for-nao-7.x.x_setup.exe,
Mac: webots-for-nao-7.x.x.dmg,
Linux 32 bits: webots-for-nao-7.x.x-i386.tar.bz2,
Linux 64 bits: webots-for-nao-7.x.x-x86-64.tar.bz2.

You can download the latest release from Aldebaran Community Website: https://community.aldebaran-robotics.com/

Uninstall completely any old version of Webots.

Launch the installer then follow the step-by-step instructions.

For further details or in case of trouble, see the Chapter 1: Installing Webots in Webots online user guide here: http://www.cyberbotics.com/guide/

Getting started¶

Launching a simulated robot¶

Step Action

Launch Webots for NAO.

Choose File > Open World...

and select the file nao.wbt located in [Webots directory]\projects\robots\nao\worlds.

Connecting Choregraphe to the simulated robot¶

Step

Action

Launch Choregraphe.

Choose Connection > Connect to or click the connect-button

Connect to button.

Select your simulated robot (the name should include the name of your computer).

Its icon should be:

In Choregraphe, you can now:

control the virtual robot with the Robot view panel and
check what the virtual robot is seeing in the Video monitor panel.

Testing a behavior in Webots for NAO¶

Step	Action
	Make sure you have launched a simulated robot and have connected Choregraphe to it. For further details see: Launching a simulated robot and Connecting Choregraphe to the simulated robot.
	In Choregraphe, create a behavior. For example, test the Tai Chi Chuan box.
	Make sure the Stiffness is on or click the Wake Up button.
	Click the Play button and follow the behavior both in Choregraphe and in Webots for NAO.
	Try to modify your point of view. For further details, see: How do I navigate in 3D world? in the Help menu.

Monitoring the simulated NAO¶

Step

Action

In Webots for NAO, double-click the robot.

The panel below appears.

Choose one of the tabs and select the data you want to monitor.

Customizing NAO’s worlds¶

Adding an object¶

Let’s add a table, for example:

Step	Action
	Make sure the simulation is stopped. Otherwise, choose, Simulation > Stop then File > Revert World.
	In the Scene Tree, select the last node.
	Click the Add a new object button and select this object: `PROTO` > `objects` > `indoor` > `tables` > `Desk (Solid)`
	Click the Add button.

Moving objects¶

Let’s play with objects in order to learn how to move them.

Step	Action
	Make sure the simulation is stopped. Otherwise, choose, Simulation > Stop.
	In the Scene Tree, select the last node.
	Click the Add a new object button and select this object: `PROTO` > `objects` > `indoor` > `fruits` > `FruitBowl (Solid)`
	Click the Add button.
	Try to put the fruit bowl on the table. For further details, see: How do I move an object? in the Help menu.

Next steps¶

NAO and Webots¶

Read the Section 8.2 Using the NAO robot of the Webots user guide to learn more about managing one or several NAOs using Webots for NAO.

Tips¶

I can’t see my simulated robot in the Choregraphe Browse robots panel.¶

Make sure the simulation is not stopped in Webots for NAO.

Navigating I lost sight of NAO.¶

Choose View > Restore Viewpoint or press F6 key. The view is reset to the origin point.

Aldebaran 2.0.6.8 documentation

Webots for NAO¶

What is Webots for NAO¶

What it is not¶

Installing Webots for NAO¶