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.

../../_images/webots4nao.png

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:

Follow 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.

../../_images/webots4nao.png

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:

../../_images/beginning_nao_bleu.png

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.
../../_images/webots_in_choregraphe.png

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:

In Choregraphe, create a behavior.

For example, test the Tai Chi Chuan box.

Make sure the Stiffness is on: stiffen-button should be red unstiffen-button.

Click the play-button Play button and follow the behavior both in Choregraphe and in Webots for NAO.

../../_images/webots_in_cho_running.png ../../_images/webots_in_cho_running2.png

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.

../../_images/webots_robot_view.png
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.

../../_images/add_object1.png

Click the add-object Add a new object button and select this object:

PROTO > objects > indoor > tables > Desk (Solid)

../../_images/add_object2.png

Click the Add button.

../../_images/add_object3.png

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-object Add a new object button and select this object:

PROTO > objects > indoor > fruits > FruitBowl (Solid)

Click the Add button.

../../_images/add_object4.png

Try to put the fruit bowl on the table.

For further details, see: How do I move an object? in the Help menu.

../../_images/add_object5.png

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.