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In this paper, we present Choregraphe: a graphical environment developed by Aldebaran Robotics for programming its humanoid robot, Nao. Choregraphe is a very powerful tool that allows macroscopic connection of high level behaviors to easily develop complex software for this 25 degrees of freedom robot. But it offers as well the ability to perform fine tuning of complex joint or Cartesian motions. At the lowest level, Choregraphe allows programming in Python.
Pot et al. (Tue,) studied this question.
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