Robot View¶
What is the Robot View¶
The Robot View displays in a 3D view the robot Choregraphe is connected to.
It allows you to check and modify the joint values (and then move the limbs) using the Limb properties.
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The Robot View also displays:
- sentences said or heard by the robot,
- objects, people or zones involved in the world perception.
Toolbar¶
Button | Click on this button to ... |
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Hide or show information data such as FPS and triangles displayed. ![]() |
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Hide or show objects stored in memory by the ALWorldRepresentation module. For further details, see: ALWorldRepresentation. |
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Disable tracking of the robot position in the world. If checked, the robot torso will not move on the grid nor rotate. |
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Disable tracking of actuator values. If checked, the robot will be frozen on the display, in order to save CPU on the robot. |
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Hide or show the areas defined by ALEngagementZones module. For further details, see: ALEngagementZones. |
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Hide or show people detected by ALPeoplePerception module. Caution: if show is selected, the ALEngagementZones module is launched automatically each time you connect Choregraphe to a robot. For further details, see: ALPeoplePerception. |
Displaying object or limb properties¶
Limb properties¶
This panel enables you to modify the joint values of each limb.
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The table below describes in details the control buttons and indicators of the Limb properties:
Part | Name | Description |
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A | Slider | Allows you to adjust the joint value. You can move it, as well as enter a value in the associated text box. The robot tries to reach the command value with its joint as soon as possible. For further details, see: |
B | Current joint value | The color indicates if the requested value has been reached.
It could be because:
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C | Record button | Saves the defined value, when a Timeline box is currently opened. This button can be:
For further details, see: Storing joint value from the Robot view. |
D | Stiffen chain on/off button | Sets on/off the Stiffness of the whole selected chain of joints (Head, Arm or Leg). This button can be: ![]() ![]() ![]() |
E | Mirroring option | If selected, actions (send a command value, register a joint value, etc) are also executed on the symmetric limb. For example left and right arms will move the same way. |
Moving joints from the Robot view¶
Simulated robot¶
To move joints of a simulated robot, using the Limb properties:
Step | Action |
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In the Robot View, click any moving part of the robot (head or limbs). The Limb properties appears. |
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Use one of the Sliders to adjust the joint value. The simulated robot moves. |
Real robot¶
To use the Limb properties to make a real robot move:
Step | Action |
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Make sure Choregraphe is connected to a real robot. | |
In the Robot View, click any moving part of the robot (head or limbs). The Limb properties appears. |
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Make sure the Stiffness is on. If not, click the Stiffen chain on/off button. |
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Use one of the Sliders to adjust the joint value. Simulated and real robots move together. |
Moving the real robot to update the Robot view¶
To edit the Limb properties using the real robot:
Step | Action |
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Make sure Choregraphe is connected to a real robot. | |
In the Robot View, click any moving part of the robot (head or limbs). The Limb properties appears. |
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If you chose a leg, hold your robot by the waist/torso to prevent it to fall down. | |
Make sure the Stiffness is off. If not, click the Stiffen chain on/off button. |
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Move the real robot manually. Simulated and real robots move together. |
Storing joint value from the Robot view¶
To store a joint value using the Robot view:
Step | Action |
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Make sure a Timeline box is opened. | |
Click on the Timeline in order to select the Motion keyframe you want to modify. | |
In the Robot View, click any moving part of the robot (head or limbs). The Limb properties appears. |
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Use one of the Sliders to adjust the joint value, or
click the The Record button becomes red |
Deleting joint value from the Robot view¶
To delete a joint value in a Motion keyframe:
Step | Action |
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Click on the Motion keyframe you want to modify. | |
In the Robot View, click any moving part of the robot (head or limbs). The Limb properties appears. |
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Click the the Record button becomes black and white |
For further details, see:
ALWorldRepresentation object properties¶
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This panel shows data about the object currently selected. The data displayed depends on the Category of the objects selected. Some data items are always shown:
- Category
- Parent
- Position
- Rotation
The position is given relatively to the Parent object.
Additionally, you can give a specific shape, color and scale to the object.
To customize the aspect of your object, you have to set the Display
attribute with the following fields:
colorR
(float) – red component of the color (between 0 and 1)colorG
(float) – green component of the color (between 0 and 1)colorB
(float) – blue component of the color (between 0 and 1)scaleX
(float) – scale along x of the objectscaleY
(float) – scale along y of the objectscaleZ
(float) – scale along z of the objectmodel
(text) – name of the model of the object (without the .mesh extension)
Warning
Colors are defined as float between 0 and 1.
This has to be done in NAOqi. For instance, in Python:
wr = ALProxy("ALWorldRepresentation", "127.0.0.1", 9559)
attribute = "Display"
fields = [["colorR", "float"],
["colorG", "float"],
["colorB", "float"],
["scaleX", "float"],
["scaleY", "float"],
["scaleZ", "float"],
["model", "text"]]
# assuming the category "mycategory" exists
success = wr.addAttributeToCategory("mycategory", attribute, fields)
# assuming the object "myobject" exists in category "mycategory"
values = [["colorR", 1.0],
["colorG", 1.0],
["colorB", 0.0],
["scaleX", 0.1],
["scaleY", 0.2],
["scaleZ", 0.3],
["model", "cylinder"]]
success = wr.updateAttribute("myobject", attribute, 1, values)
For more details, refer to ALWorldRepresentation.
Note
Several models are already provided:
- “arrow”
- “cylinder”
- “sphere”
If you want to set a custom model for your object, just provide an Ogre mesh model (*.mesh file) and put it in the share/choregraphe/media/visual folder of Choregraphe installation directory. The name of the model to provide to ALWorldRepresentation is without the .mesh extension.