Labbook Dutch Nao Team

Labbook Dutch Nao Team

April 1, 2026

• Trying again to test the script from native Ubuntu to Mio.
• Mio wasn´t connected to any wifi. Connected with the ethernet cable.
• Strange, Mio is connected, yet Ubuntu not. Could activate the interface with sudo ip link set eth0 up, but this gives only a inet6 address.
• Strange. Looked with sudo dmesg | tail, only see a segfault in pulsesecure.

March 26, 2026

• Have to look up the code of synchronized dance, which we performed on Dutch Nao Demo Day on May 28, 2011.
• Found the SimultaneousNaoControl on my Wintel-drive in folder activities/DNDD. The Usage_Notes indicate python2.6, and running main.py --nao IPADDRESS for each nao (not sure on each nao or as script).
• Lets test it on Mio.
• Connected Mio to iotroam, but my own latptop got a small submask. Couldn't ping mio. Switching to DNT_5G would be a good choice.
• For the moment trying the code. On WSL import naoqi fails for python2. No python2 under PowerShell, so switch no native Ubuntu partition.
• Could execute the code locally, but it just started a transportserver, no standup, no vangalis.
• Created a 'working' runpython.bat: runpython2.bat. Loads correct python2 and PYTHONPATH, yet fails on argparse (anaconda2\Lib\copy.
• Lets try again under native Ubuntu.
• Could start script. Added some print statements.
• Mio is added to list of nao's. Running it the 2nd time gave an error:
  self.motion = ALProxy('ALMotion', ip, port): ALBroker::createBroker Cannot connect to tcp://*:*
  
• To be continued.

February 25, 2026

• Barbie has not only problems with her hips, but also has problems with booting.
• Tried to find the ip via sudo nmap -sn 169.254.196.0/24, but under WSL I got Failed to open device eth0.
• nmap seems not to work correctly for WSL, so installed a Windows version from nmap.org.
• Windows has a nice gui, including a commandline option. The Target is filled in with the domain give as argument.
• Only one host was visible. Barbie chess-button was flashing red. Try to flash here.

February 24, 2026

• Switched to my Ubuntu 22.04 partition on nb-ros.
• Downloaded the choregraphe-suite from nao6-binaries.
• There is a in the choregraphe-suite-2.8.7.4-linux64 directory a script, which starts bin/choregraphe_launcher, after setting the SDK_DIR as environment variable.
• The launch fails on library mismatch: /choregraphe-suite-2.8.7.4-linux64/bin/../lib/libz.so.1: version `ZLIB_1.2.9' not found (required by /lib/x86_64-linux-gnu/libpng16.so.16).
• Will try Alex's answer.
• But first some updates.
• The file libz.so.1 points to ./libz.so.1.2.8 in the same directory.
• The file /lib/x86_64-linux-gnu/libz.so.1 points to libz.so.1.2.11
• Removed that symbolic link, and linked to the system version with ln -s /lib/x86_64-linux-gnu/libz.so.1.
• There are two version of python2 in the tt>/choregraphe-suite-2.8.7.4-linux64/bin/. python2 is version 2.7.8, python2.orig is version 2.7.18. Both could do import naoqi.
• Looked what is included, which is quite a list, including several /home/arnoud/packages/choregraphe-suite-2.8.7.4-linux64/lib/python2.7/lib-* directories. Also ~/.local/lib/python2.7/site-packages is included, but this doesn't contribute to naoqi, as far as I see.
• Tested all 4 Hello Worlds on Femke without problems.
• Also downloaded the Linux-version of RobotSettings. Femke had three languages (Dutch, English and German). Also Plural for Nao was installed. Updated that package to version 1.6.2 (that worked!)
• I don´t see any other apps installed on Femke, checking Jutta.
• No other apps at Jutta. Let the Plural for Nao update for the moment.

February 23, 2026

• Choregraphe comes including a python executable and library.
• At my Windows-partition the library can be found at C:\Packages\Aldebaran\ChoregrapheSuite2.8\lib\python2.7\Lib\site-packages.
• In my Windows command-prompt, I started C:\Packages\Aldebaran\ChoregrapheSuite2.8\bin\python.exe. That starts python version 2.7.16. Inside python I could do import naoqi, without setting the PYTHONPATH explicitly.
• When I check with import sys; print(sys.path), I see 'C:\\Packages\\pynaoqi-2.8.7.4\\lib'.
• When I only use that directory, I get the following error when doing import naoqi: No module named inspect.
• Tried to find where the insept is found. sys.path=['C:\\Packages\\pynaoqi-2.8.7.4\\lib', 'C:\\Programs\\Anaconda2\\Lib'] works, just like sys.path=['C:\\Packages\\Aldebaran\\ChoregrapheSuite2.8\\lib', 'C:\\Programs\\Anaconda2\\Lib'].
• Found the minimal setup that works: sys.path=['C:\\Packages\\Aldebaran\\ChoregrapheSuite2.8\\lib', 'C:\\Packages\\Aldebaran\\ChoregrapheSuite2.8\\lib\\python2.7\\Lib'].
• Downloaded the choregraphe-suite-2.8.7.4-win64-vs2015.zip. Unpacking gives a double choregraphe-suite-2.8.7.4-win64-vs2015 directory, one can be renamed Aldebaran.
• Started bin/choregraphe_launcher.exe, which gave some security warnings, but started fine enough.
• Also tried bin/python.exe, which also works when the >sys.path is set. Python also gave a security warning when import naoqi was performed.
• Tried Hello World 4 - using Python
• Without Nao, ALProxy also worked with ip 127.0.0.1. Unfortunatelly, no sound.

February 20, 2026

• Tested both Jutta and Femke with Tai-Chi. No problems there.
• Both robots are now connected to ROBOLAB_VAR.
• Switched Femke from Dutch to English language.

February 19, 2026

• The official Nao v6 software (NaoQi 2.8.6) can still be downloaded from Maxtronics.

February 18, 2026

• The download of the Linux version of RobotSettings (and some other packages) failed to download from Aldebaran France.
• A retry didn't help. Tried it from WSL and wget, but download is consistently stopped at 52%.
• Found a docker image, where the robot-settings-2.8.6.23-linux64-setup.run is part of the 1.4 GB image.
• Connected Choregraphe 2.5.10.7 with Jerry (#17). Choregraphe gives a warning that behaviors may work very strangly.
• Still, could connect via LAB42, perform a StandUp, TaiChi and SitDown. Jerry is in good condition.
• Also Mio (#15) pasted the TaiChi test succesfully, even with a low battery.
• Tom (#16) was without battery. Mounted the battery labeled 'UvA-1'.

February 17, 2026

• Also looking if more downloads can be found at the French support side of the Nao.
• Found Robot settings (v2.8.6.23) for all three OS.

February 16, 2026

• Found in overleaf the robot_guides from ZSB 2017.
• For software, the nao guide pointed to https://community.ald.softbankrobotics.com/, which no longer exists.
• The still accesable documentation points to https://developer.softbankrobotics.com/ which also no longer exist.
• Looked to an archived version of Developer Center.
• The documentation of Robot settings and the Choregraphe suite - Installation Guide still exist (Ubuntu 16.04 based).
• Found three versions of Linux setup (v1.2.1). The 2nd one is much larger, so saved that version.
• The choregraphe-suite-2.8.7.4-linux64.tar.gz was not archived by the Wayback machine.
• Luckely Aldebaran has published the Nao 6 binaries on github.
• There is also a Nao 5 resources page.
• Also note libqi-python, which is python3.7 based.
• Also note robot jumpstarter, an alternative for Choregraphe to build robot-apps (NaoQi 2.4 based, so only for Nao v5).
• For the Pepper I could only find jumpstarter and PDDL Playground.
• This is the new version of the guide: Using the Nao.

February 12, 2026

• Connected to Jerry, Nao v5 #17. Checked the connection wired, connecting to the webinterface. The Nao is running Naoqi v2.1.4.13. Could also connect to LAB42, with ip *.*.*.51.
• Logged in, there are several pkg available in /usr/share/naoqi/apps. Yet, the list is quite short:
  • DefaultLaunchpadPlugins.pkg
  • animation-mode.pkg
  • animations.pkg
  • auto-diagnostic.pkg
  • boot-configuration-3.0.21.pkg
  • system-2.1.0.pkg
• According to Administration Jerry was last tested in June 2021. Could perform Tai CHi with minimal support.
• Currently flashing Sam with NaoQi 2.8.7. Sam is one of the managed robots.
• The installed packages can be found on the robot on /home/nao/.local/share/PackageManager/apps/

Previous Labbook

• Labbook 2025
• Labbook 2024
• Labbook 2023
• Labbook 2022
• Labbook 2021
• Labbook 2020
• Labbook 2019
• Labbook 2018
• Labbook 2017
• Labbook 2016
• Labbook 2015
• Labbook 2014
• Labbook 2013
• Labbook 2012
• Labbook 2011
• Labbook 2010
• Labbook 2009