NAO Competition 2012

NAO Competition 2012

Interest Group Board Entries

Tobias Klauser's picture
4 years 6 months ago
 

Dear all

This is a short reminder that the NAO competition will end tomorrow, Wednesday 5 December 23:59 CET (UTC+1). Please send your solutions (even if they're not complete!) to tobias.klauser@uzh.ch until then.

We will then evaluate all submitted solutions and determine a winner which will be announced in the final lecture of the 2012 ShanghAI Lectures on 13 December 2012.

Best regards
Tobias



Jörg Meier's picture
4 years 6 months ago
 

we have the following problem addressing fast changes in the choregraphe API.
one group of our competition-team developed their code using webots 6.4.4 and choregraphe 1.12.1. Since this combination worked on our platform (macOS), we didn't wanted to install all the new softwares, since we considered ourself lucky to have found a combination of softwares and platform for which everything worked (due to many errors according this issue reported in some other interest group).

so now we want to merge all our code and found that in choregraphe (1.14.x) there are some methods declared as "deprecated", which were fully supported in 1.12.x. One example is the OLD function setStep(..), which is not supported anymore. the old API (unfortunately, i can't find it anymore) suggests the NEW function setFootStep(..) (http://www.aldebaran-robotics.com/documentation/naoqi/motion/control-wal...).

since it's a completely other function, we're not able to adapt the parameters in a way that we might achieve the same nao-behavior that we had with the old function.
this is very frustrating because we don't want to implement an other function which acts in a totally different way. this is, since we're afraid that it might destroy our so far implemented behavior.

are there any other groups which have experienced similar issues? hints for solutions would be great.
bests,
berlin-team



Peter Woltersdorf's picture
4 years 7 months ago
 

Is it possible to still access the documentation 1.12.5 for nao software, with the old links you get to the documentation 1.14 since today



Tatyana Volkova's picture
4 years 7 months ago
 

Hello everyone,
Did you manage to run some behaviors? I didn't. I have Choreographe 1.12, Webots 7 and Python 2.7. When I change NAO pose through Choreographe (move head, legs...) all is OK, but when I try to make it "Play" some behavior (like "Sit down"), the connection to NAOqi is lost!


Tobias Klauser's picture
4 years 7 months ago
 

Hi Tatyana

You'll need to use Choregraphe 1.14 to be able to be able to control NAO in Webots 7 via NAOqi. You should have received a download link for 1.14 from Aldebaran Robotics. If not, please send me a private message or e-mail.

Best
Tobias


Tatyana Volkova's picture
4 years 7 months ago
 

Still I get "could not connect to robot". What could be the problem


Zsolt Burger's picture
4 years 7 months ago
 

Hi All,

I had several problems with webots 6.4.4 and choregraphe 1.12. So I downloaded webots 7.0.1 and choregraph 1.14.0.155(I found it with google), but when I connect it to webots(loaded with the nao.wbt for the contest) I got the following scene(see attached). The NAO is totally fallen apart, and it doesn't do anything.

When I try it with the default nao.wbt, then it is ok. The robot can walk.

What's the problem here?

Regards,
Zsolt


Zsolt Burger's picture
4 years 7 months ago
 

After the first connection to webots I reloaded the nao world, and reconnected in choregraphe, then it works.


Tobias Klauser's picture
4 years 7 months ago
 

Ok, great. Either way, you should receive the correct license from Aldebaran today.

Best
Tobias


Tobias Klauser's picture
4 years 7 months ago
 

Dear all

Since the NAO competition had a bit of a slow start, we will extend the deadline for it by one week. Thus the new deadline is 5 December 2012 23:59 CET (UTC+1).

Best regards
Tobias



Peter Woltersdorf's picture
4 years 7 months ago
 

Now I installed python 3.3.0 and still it does not work
[ERROR] behavior.box: ALFrameManager__a94b10__root__SetStiffness_1: There is no ALPythonBridge module ! Could not interpret box in Python...


Peter Woltersdorf's picture
4 years 7 months ago
 

this is the error (debugwindow) when i press the play button in choregraphe


Tobias Klauser's picture
4 years 7 months ago
 

Please use Python 2.7! If it still doesn't work, try contacting Aldebaran Support at http://www.aldebaran-robotics.com/en/Support/support-contact.html


Zsolt Burger's picture
4 years 7 months ago
 

Hi,

Should the NAO find its way through the maze without any outer interaction from a human? Ie. without saying things to the robot or touching parts of it?

Regards,
Zsolt


Tobias Klauser's picture
4 years 7 months ago
 

Hi Zsolt,

In general, the NAO should find its way through the obstacle course autonomously, without any active interaction from humans. But if you can justify (i.e. in the report you write about your solution), why the interaction is absolutely needed, you're of course free to do so.

Best regards
Tobias


Peter Woltersdorf's picture
4 years 7 months ago
 

Hi,
I got the following error when pressing the play button in choregraphe (1.12), to start moving the nao in webots (7.0.1)

ALBroker::methodCall: method: newBehaviorFromChoregraphe, params:
ALFrameManager::newBehaviorFromChoregraphe
ALProxy::constructor
Module 'ALPythonBridge' not found.

Any Ideas what the problem could be?
thanks
Peter


Peter Woltersdorf's picture
4 years 7 months ago
 

python version 2.6.1 installed and i have a mac os x 10.6.8


Tobias Klauser's picture
4 years 7 months ago
 

Hi Peter

You'll need to use Python 2.7 (I suggest using the version from python.org because at least for me the version from MacPorts did not work).

Cheers
Tobias


Jan Gosmann's picture
4 years 7 months ago
 

Hi,

I'm having trouble to get the Nao in the simulation walking. It either does not walk at all or walks very slowly and then suddenly stops in the middle of the movement (sometimes falling over).

In Choreographe I am just using a "Set Stiffness" box followed by a "Walk Toward" box. During the simulation I get the following messages from naoqisim:
[naoqisim] [WARN ] setWalkTargetVelocity is not possible due to low level on Legs Stiffnesses
[naoqisim] [WARN ] Walk Process killed due to loss of foot contact
[naoqisim] [WARN ] setWalkTargetVelocity is not possible due to no foot contact

I am running Webots 7.0.1 and Choreographe 1.12 on Mac OS X 10.7.5.

Any ideas what the problem could be?

Best,
Jan


Tobias Klauser's picture
4 years 7 months ago
 

Hi Jan

I hit the same problem some time ago, but it vanished when I upgraded to Choregraphe 1.14. You'll receive an extended trail license for 1.14 from Aldebaran for this exercise (as soon as I have a complete participant list), so you might want to try it again then with the new version.

Cheers
Tobias


Jan Gosmann's picture
4 years 7 months ago
 

Where can I download version 1.14? I am only presented with download links to version 1.12 at the Aldebaran website.


Tobias Klauser's picture
4 years 7 months ago
 

As I wrote, you'll receive the version 1.14 from Aldebaran, once I got a complete participant list from all sites (hopefully by tomorrow or the start of next week).

You could also try to to get in contact with Aldebaran or Cyberbotics support, maybe there's a workaround fix for the problem even for 1.12.

Cheers
Tobias


Jan Gosmann's picture
4 years 7 months ago
 

I installed Choreographe 1.14 now and it seems to work a bit better, but still I cannot get the Nao to walk reliably. After starting a movement it quickly stops again with the following messages in the console:

[naoqisim] [WARN ] Walk Process killed due to loss of foot contact
[naoqisim] [WARN ] unregisterModuleReference is deprecated and can be removed.
[naoqisim] [WARN ] unregisterModuleReference is deprecated and can be removed.

Best,
Jan


Tobias Klauser's picture
4 years 7 months ago
 

Hi Jan

What version of Python are you using? I had to explicitly install Python 2.7 from python.org (rather than MacPorts) to get it running properly on my Mac.

What Webots version? Cyberbotics recently released Webots 7.0.2 which fixes some bugs. Installing this might help.

Best
Tobias


Jan Gosmann's picture
4 years 7 months ago
 

Hi Tobias,

I have Python 2.7.3 from MacPorts installed, but as far as I can tell (printing sys.version) Choreographe/Webots picked up Python 2.7.1 which is distributed with OS X. I tried to install Python 2.7.3 from python.org (and from the printed version information it seems that it was used by Choreographe/Webots), but still no improvement. Neither did updating to Webots 7.0.2 help.

Best,
Jan


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