CODEWITHSUNDEEP
roboticspepper
Alessandro Cocilova
Alessandro Cocilova

Reputation: 17

Pepper movement not working with choregraphe behaviour

I'm trying to let Pepper do a really basic sequence of movements, with Choregraphe: a rotation, then one meter forward, than another rotation and finally one meter forward. Most of the times that I'm running the behaviour, the sequence cannot be completed as the robot freezes. Every time I can hear the noise of the motors, but most of the times the robot won't move. Please consider that it is on a perfectly smooth surface. Does anybody know what could be the reason of this problem? Do you have any suggestion on how to fix it?

The version of NAOqi is 2.5.5.5

box flow in choregraph

Upvotes: 0

Views: 1530

Answers (2)

Anders_K
Anders_K

Reputation: 992

As mcaniot says the robot has some aggressive safety features and the robot may stop suddenly. However if you know what you are doing and accept the risk, you can disable the security in the web settings.

Read the specifics of the collision avoidance here: http://doc.aldebaran.com/2-5/naoqi/motion/reflexes-external-collision.html#pepp-pepper

You can find the settings to disable it here: Allow for security features to be disabled

Use this method to enable/disable settings: http://doc.aldebaran.com/2-5/naoqi/motion/reflexes-external-collision-api.html#ALMotionProxy::setExternalCollisionProtectionEnabled__ssCR.bCR

Upvotes: 0

mcaniot
mcaniot

Reputation: 395

The robot has a lot of safety. If the robot can't move because of an obstacle, the choregraphe box will say that your movement failed (grey output on the move To box) and cancel your flow. In your program, the flow will only continue if the movement is a success.

Upvotes: 1

Related Questions