Help us improve our software! In case of a NAOqi issue, you can now send us an issue report, automatically or manually.
For an automatic upload, see: the Bug report option in Settings, for a manual upload, see: How to retrieve an issue report.
This release fully supports 64-bits OS.
MAC OS X 32-bits is no longer supported.
Therefore, upgrading Choregraphe is no longer possible on computer running non-supported Operating Systems such as Mac OS X version 10.5 Leopard or earlier.
NAO Speaks Japanese with a new, much better voice.
ALTextToSpeech now uses the speech synthesizer provided by ACAPELA for all languages, including Japanese.
For further details, see: ALTextToSpeech.
In order to improve voice quality, ALTextToSpeech now uses a new version of language files.
ALVisualCompass is an extractor which gives the current rotation angles of the robot compared to a given reference image along the Y and Z axis.
The module gives the rotation of the FRAME_ROBOT reference, so the whole body of the robot and not only its head. This means that if the robot stays standing but moves its head, the deviation angles will not change.
For further details, see: ALVisualCompass.
ALMovementDetection extractor enables to detect movements around the robot thanks to its camera.
Warning
This module is experimental. In order to improve its performances, it is likely the algorithm used for the detection will change in the next version, which may result in API changes.
For further details, see: ALMovementDetection.
Use the following modules instead:
Tracking is now possible with both cameras.
For further details see: NAOqi Trackers.
The camera used for the detection in now precised in the information returned, as well as its position in FRAME_TORSO and FRAME_ROBOT.
For further details, see: ALRedBallDetection and ALFaceDetection.
Since release 1.14, usage of the Chest button LEDs is deprecated. The usage of the Chest button will be soon restricted in order to use it as a system button.
For further details, see: ALLeds.
ALRobotPosture module allows you to make the robot go to a different pose.
For further details, see: ALRobotPosture.
These new methods are convenient to manage the Stiffness globally, for the whole robot.
For further details, see: ALMotionProxy::wakeUp() and ALMotionProxy::rest().
Self-collision avoidance can be deactivated in any case, even if the current state of the chain in collision.
For further details, see: ALMotionProxy::setCollisionProtectionEnabled().
Additionally to minAngle, maxAngle and maxVelocity, ALMotionProxy::getLimits() returns the maxTorque.
Constant names have changed:
Note that for backward compatibility, former constants are still available.
For further details, see: Frames.
Use the Animation Mode instead.
For further details, see: Animation Mode.
Walk control becomes Locomotion control
General Tools
Deprecated method | Replaced by ... |
---|---|
ALMotionProxy::getJointNames() | ALMotionProxy::getBodyNames() |
Motion task
Deprecated method | Replaced by ... |
---|---|
ALMotionProxy::killWalk() | ALMotionProxy::killMove() |
This new module provides methods for network configuration and connection. ALConnectionManager supports several technologies such as Ethernet, WiFi and Bluetooth.
For further details, see: ALConnectionManager.
Two new methods allow you to set and get a description for each memory entry.
For further details, see: ALMemoryProxy::getDescriptionList() and ALMemoryProxy::setDescription().
New
Removed
Urbi
Updated
Several libraries used by NAOqi SDK has been updated:
For further details about OpenCV, see: Using OpenCV.
Resource viewer is a new panel that dynamically displays the name of the box locking resources.
For further details, see: Resource viewer panel.
Memory watcher is a new panel allowing you to easily display the value of events or data during the execution of a behavior.
Memory watcher has a Recording function allowing you to save a CSV file containing the history of event or data values during the recording.
For further details, see: Memory watcher panel.
Activate the option Use 3D controller for motors (Experimental) in order to test new forward kinematics.
For further details, see: Choregraphe Preferences and Robot View.
Activate the option Activate dialog widget (Experimental) in order to test new Dialog panel.
For further details, see: Choregraphe Preferences and Dialog panel.
Optimization has been one of our major priority. More specifically, behavior loading is now much faster.
The Timeline tools are now aware of the Body type of the connected robot.
For example, when you are connected to a T14, legs joints are not displayed anymore.
For further details, see: Timeline and Timeline Editor.
Methods allowing you to manage the Timeline execution have been improved and simplified. Now Timeline object can be accessed in python using:
For further details, see: Built-in functions in the script of a box.
Animation mode is easier to use:
For further details, see: Getting started with the Animation Mode.
The Behavior manager panel has a new, simplified Toolbar.
For further details, see: choregraphe-overview-behavior-manager-panel.
The management of connection troubles has been improved: the modal alert has been replaced by a tooltip offering guidance to fix the problem.
For further details, see: Connection Management.
The Connection widget has also evolved: now the IP address of the robot is displayed and can be refreshed if necessary.
For further details, see: Connection widget.
New buttons appear on the Input and Output borders of the Flow diagram:
To display their names, hold down Shift-Control:
For further details, see: Managing Flow diagram inputs and outputs.
File menu has been simplified: a single command allows saving a Project as a CRG file or as a directory.
For further details, see choregraphe-howto-save-project-as-crg and choregraphe-howto-save-project-as-directory.
Resource editor becomes Box resource selector,
improved in order to be more intuitive.
For further details, see: Box resource selector.
In order to clarify parameters inheritance, when activated, if a parent parameter is found:
When installing Choregraphe, it is no more necessary to enter the free trial key. User can freely use Choregraphe for 90 days.
During 90 days, at startup, a reminder gives the choice to use the free trial or to enter the license key.
the default Box Library has been split in 3 box libraries:
For further details, see: Box libraries panel.
Audio > Sound > Sound Peak:
Communication > Network > Choregraphe Connection:
Check if NAO is connected to Choregraphe and warn when it gets connected or gets disconnected.
Communication > Network > Internet Connection:
This box detects when NAO is connected or disconnected to the Internet.
Advanced box Library > Motions > Set Fall Manager:
System > Get Name:
Debug > Log:
Prompt the message in the debug window. You can set a prefix and a priority for the message in the parameters.
3 templates are now available in order to quickly create Diagram, Script or Timeline boxes.
Vision > Record Video:
Record a video from NAO’s camera. Stop recording when the duration set in parameter is elapsed.
Vision > Take Picture:
Take a picture with NAO’s camera and store it in his memory in ~/recordings/cameras. The image format is JPG.
Vision > Unlearn Face:
This release Note was generated on 2017-08-10.