NAO Software 1.14 documentation

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Robot view

What is the Robot view

The Robot view displays, in a 3D representation, the current position of the joints of the robot you are connected to.

It also allows you to modify the joint values of each limb using:

• the Motion widget or
• the Forward kinematics mode - Experimental.

It is updated as soon as you move a joint:

• playing a Behavior,
• moving a joint manually (on a real robot) or
• moving a joint using the Motion widget or the Forward kinematics mode - Experimental.

Limitations: The torso of the robot is static. It is the reference of this 3D view. The limbs and the head of the robot moves around the torso which does not move. So even if your real robot falls over, you will not see it lied down in the 3D view. You will only see the relative position of its joints.

Navigating the 3D world

You can navigate the 3D world:

• move up, down, right and left by pressing and dragging the mouse with the left-click.

• zoom in and out the view with the scroll wheel of your mouse.

• turn around a point by pressing on the point and dragging the mouse with the right-click, or change the point of view by right-clicking on the 3D view and selecting the point of view you wish.

  By default, the point of view is on the front of the robot.

Options

Selecting a different simulated robot

If you are connected to a Simulated robot, you can change the model and the hardware version of the robot:

1. Choose Edit > Preferences then NAOqi’s settings tab.
2. The Version list allows you to select a Body type and a Version.

Deactivate 3D view

In case of technical issue with your computer, disturbing the display, you can deactivate the 3D view:

1. Choose Edit > Preferences.
2. Choose the Start Choregraphe without the 3D option.

This option replaces the dynamic view by a static one.

For further details, see Choregraphe Preferences.

Activate Forward kinematics mode

You can opt for another way of moving joints, the Forward kinematics mode - Experimental:

1. Choose Edit > Preferences.
2. Make sure the Start Choregraphe without the 3D option is deactivated.
3. Choose the Use 3D controller for motors (Experimental) option.

For further details, see Choregraphe Preferences.

Forward kinematics mode - Experimental

When activated, this mode allows you to directly move the joints in the Robot view.

Each joint can be moved by dragging one of the wheels appearing round the joints.

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