.. _choregraphe-reference-simulated-robot: Robot simulation ================ What is a simulated robot ------------------------- A simulated robot is a robot which has no existence in the real life. It allows you to test your code before running it on a real robot. How to get a simulated robot ---------------------------- There are several ways to get to a simulated robot: * In Choregraphe, a simulated NAOqi is included. This robot is launched at Choregraphe startup and stopped at Choregraphe closure. This robot has the same abilities of a real one but: * It is not subjected to the gravity and its torso is always considered as in a straight position (exactly as it is displayed in the :ref:`3D view <3d-nao-panel>`). So it cannot fall and cannot be lied down. * Its joints are always considered as stiffened and the stiffness can never be set off. * It has no audition functions (speech recognition, recording, etc). * It has no audio player functions. * It has no LED. * You cannot directly interact with it (tactile touch, bumper, etc) but moving a joint in :ref:`the 3D view <3d-nao-panel>`. * Using the **NAOqi binary**: /[path-to-installed-Choregraphe]/bin/naoqi-bin. This robot has the same abilities as the previous one but is totally independent of Choregraphe. So it can be connected from any other application as a real robot (Monitor for example) and can be launched and exited as you wish independently from Choregraphe. * Using **NAOsim**. NAOsim offers a robot simulation in a customizable virtual world. For further details about the abilities of this simulated robot see :ref:`NAOsim` section. .. seealso:: * :ref:`How to connect to a simulated robot with choregraphe`