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cyberbotics / naoqisim

NAOqi enabled controller for simulated NAO robots in Webots
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getPackages is deprecated #11

Open AlonShaqed opened 3 years ago

AlonShaqed commented 3 years ago

Hello, I installed the naoqisim controllers just as it is specified in the readme. I am using Webots R2021a in Linux Mint 20 and running the file naoqisim.wbt, connecting it to Choregraphe 2.1.4.13. It appears to connect properly, but when I create a behavior in Choregraphe in the robot view it's previewed but is not mirrored in Webots' simulation, I think it has to do with this output bellow about deprecated functions, which I got after creating a "Walk towards..." activity.

[I] 8056 core.naoqi: NAOqi is ready...
[I] 8038 qimessaging.servicedirectory: Registered Service "ALChoregraphe" (#66)
[I] 8051 qimessaging.servicedirectory: Registered Service "ALChoregrapheRecorder" (#67)
[W] 8030 packagemanager: getPackages is deprecated please use packages instead.
[W] 8039 packagemanager: getPackage is deprecated please use package instead.
[W] 8045 packagemanager: checkRequirements disabled
[I] 8045 packagemanager: .lastUploadedChoregrapheBehavior: package installed in version 
[W] 8052 packagemanager: getPackages is deprecated please use packages instead.
[W] 8036 ALMotion.ALMotionConfigurator: ENABLE_FOOT_CONTACT_PROTECTION: 1
fernandozuher commented 3 years ago

Hello, @AlonShaqed. The naoqisim plugin doesn't work properly because of the old-outdated-buggy version of the naoqi-sdk in it. Some behaviors, specially the ones related to the movement of legs, don't work in Webots through naoqisim. Further information about it: https://github.com/cyberbotics/naoqisim/issues/10

AlonShaqed commented 3 years ago

Hello @fernandozuher, I started using your refactored version, but the arms don't work either or any motion really (this also happens with the master of cybebotics) I did use the postures you suggest. Furthermore, I don't think it's related but I get this looping output right after naoqi is ready... :

0
isnan
isnan
isnan
isnan
isnan
isnan
isnan
isnan
isnan
isnan
isnan
isnan
isnan
isnan
isnan
isnan
isnan
isnan
isnan
isnan
isnan
isnan
NAN
    target:
fernandozuher commented 3 years ago

Weird loop output. I will check that out for you. As the movement of the arms, what exactly are you doing and how (in programming)? If the master naoqisim isn't working for that too, it is supposed to be the outdated-naoqi-sdk. In spite of it, I did some brief experiments with the arm months ago (specially the fingers) of NAO and it worked.

AlonShaqed commented 3 years ago

I just made this routine in Choregraphe: image But naoqisim remains motionless, like this: image

fernandozuher commented 3 years ago

You are using Choregraphe that communicates with a naoqi process inside a plugin (naoqisim) that has a buggy naoqi-sdk. It just doesn't work because of the bugs in that outdated naoqi-sdk version.

Choregraphe <-> naoqi process inside naoqisim plugin (with buggy naoqi-sdk) <-> Webots

naoqisim (and my refactored version) is a beta version plugin: it is not stable and pretty limited.

Months ago I moved the hands of NAO using "Webots motion methods", which were based in some Webots nao-example-file. Unfortunately there is not any other way to work properly with NAO in Webots. =/ Choregraphe is the unique "stable" simulator until now.

Saman-Khan commented 2 years ago

Please someone guide me on how to find simulator sdk. Have been searching for it for weeks. I am unable to work with plugins without it. Please help me out