Choregraphe 2.1 ¶
New features ¶
Build Applications from Projects ! ¶
Choregraphe can now produce application Packages (.pkg) out of Projects, and directly install them on your Aldebaran robot.
Former “Store application metadata” can be edited through Project properties .
It is stored in the Project as manifest.xml and can be edited in several languages.
Installed Behaviors cannot anymore be opened directly from Choregraphe , thus preventing users to access easily the sources of your application.
For further details, see: Project files panel .
Edit Project content externally ¶
You can modify the the content of the Project using your favorite file management tools.
For further details, see: Tip 2: external management .
New buttons: Wake up , Rest and Life buttons ¶
Instead of the former Stiffness management, you can now ask your Aldebaran robot to wake up, become alive or go to rest, using the 3 new buttons available in Choregraphe Toolbar .
But if you miss the former Stiffness button too much, a preference allows you to get it back. For further details, see: Choregraphe preferences .
New project content: QiChat script ¶
The Script Editor allows you to create Dialog script, an easy way to use ALDialog module.
For further details, see: QiChat script .
Improved tools ¶
Robot view : display perceptions ¶
You can also enable or disable the tracking of:
- the actuator values
- the robot position in the world.
Rotation handles allow manipulating directly the joints of the selected limb.
For further details, see: Robot View .
Behavior Manager : redesigned ¶
Former Behavior Manager is replaced by Robot Application , and shows the whole Application structures and the Behaviors they contain.
Note that it is not any more possible to open in Choregraphe a Behavior installed on your Aldebaran robot, application are now packaged in a distribution format.
For further details, see: Robot applications panel .
Animation Mode : has evolved ¶
Animation Mode command to store position changed!
The command is now to tap the head tactile sensors instead of having to press the Chest button.
Memory Watcher : Hierarchical view ¶
Select memory events panel now display a hierarchical view of the events, allowing an easier browsing.
Timeline : improved ¶
Improved boxes ¶
Here is the list of boxes you should cut/replace:
Sit Down & Stand Up ¶
Now these boxes call an ALMotion method, so they will be updated automatically by new releases.
Wait , Timer , Twinkle & Fall Detector ¶
Make sure you use the new release of these boxes, in order to avoid multi-threading issues.
WakeUp & Rest instead of Motor on/off ¶
Use these new boxes to manage simply the Stiffness and the posture of your Aldebaran robot.
Set language & Speech Reco ¶
Make sure you use the new release of these boxes, in order to be compatible with Qichat and animated speech boxes.
Sound Tracker , Movement Tracker & Robot Posture ¶
Make sure you use the new release of these boxes, in order to use the improved API.
German part has been fixed.
Other boxes to upgrade to support virtual robots ¶
- Get Body ID
- Get Parameter
- Get Temperature
- IR Get Key
- IR Send Key
- IR Side
- Is Backlit
- Is In Darkness
- Learn Face
- Record sound
- Record Video
- Set Speaker Vol.
- Sound Loc.
- Sound Peak
- Sound Tracker
- Speech Reco.
- Take Picture
- Unlearn All Faces
- Unlearn Face
Supported OS: Ubuntu 12.04 LTS (Precise) and later ¶
Ubuntu 10.04 LTS (Lucid) is not anymore supported.
This release only supports Ubuntu 12.04 LTS (Precise) and later.
For further details, see: Choregraphe requirements .
Behavior’s loading time improved ¶
Behavior’s loading time was divided by at least 3.
Separate Virtual Robot execution ¶
Choregraphe now instantiates a virtual robot in a separate process, thus improving stability.
Connection management ¶
- The user can cancel connection trials.
- Choregraphe waits for the robot to be fully started before validating connection.
- Choregraphe does not get kicked when other Choregraphe instance asks for connection on the same robot. Other Choregraphe connections are refused instead.
For further details, see: Connecting Choregraphe to a robot .