Using Pepper without Pepper in Choregraphe

Because robots are expensive

This tutorial will show you how to use Choregraphe for prototyping applications for Pepper and NAO when it is impossible to have the robot physically.

Choregraphe is the official Simulator for Pepper and NAO robots.

You can install Choregraphe 2.5.5 (recommended) from the official web page or Choregraphe 2.4 using this link

Option 1

Open Choregraphe, select Connect to .. (see image 1), and select the virtual robot (if available).

Figure 1.- Connect to Virtual Robot

Option 2

After installing Choregraphe search and open naoqi-bin.exe file inside the bin folder in the installation path of Choregraphe (example C:\Program Files (x86)\Aldebaran\Choregraphe Suite 2.5\bin)

The program naoqi-bin.exe, will be used to simulate communication with a real robot.

Open Choregraphe and connect to port 9559 and the IP 127.0.0.1, such as is shown in the next image

When using the simulator, you can not be able to access the sensors of the robot. However, you can use this approach for testing robot motions and text-to-speech.