4-659-403-11(1) English Edition User’s Guide © 2001 Sony Corporation ©2002 Sony Corporation
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Sources of information There are two AIBO Master Studio manuals. To view the Online Manual User’s Guide (this manual) Click the Start button in Windows and choose Programs* - AIBO Master Studio - User’s Guide (or Tutorial Guide). The User’s Guide includes an overview of AIBO Master Studio; installation, setup and other information required to operate AIBO; and how to use the programs that make up AIBO Master Studio. * If you are using Windows XP, click All Programs instead of Programs hereinafter.
Table of contents Chapter 1 Introduction AIBO’s “behavior” and “action” ............................................................................ 12 What is AIBO Master Studio? ................................................................................ 13 Compatible AIBO Models ..................................................................................... 13 Program Configuration .........................................................................................
Chapter 3 Quick Behavior Arranger Overview ................................................................................................................. 26 How to use original actions ............................................................................ 26 How to Create Behaviors ....................................................................................... 27 Chapter 4 Behavior Arranger Overview ...........................................................................................
Using Groups .......................................................................................................... 46 Making a group ...................................................................................................... 46 When You Create Subroutines ........................................................................ 46 When You Create a group (Subroutine) from a Group Box ....................... 47 Moving from group to group ........................................................
Creating an element file first ................................................................................ 80 Motion file ......................................................................................................... 80 Sound file ........................................................................................................... 80 LED file ..............................................................................................................
Chapter 6 Reference Troubleshooting ................................................................................................... 102 “Memory Stick” .................................................................................................... 105 Suitable “Memory Stick” products .................................................................... 105 Handling procedures ........................................................................................... 105 About the safety switch ......
MIDI Window ....................................................................................................... 123 Names and function of window .................................................................. 123 Menus ............................................................................................................... 124 WAVE Window ..................................................................................................... 126 Name and function of window ........................
Chapter 1 Introduction Gives you an overview of the AIBO Master Studio software.
Chapter 1 Introduction AIBO’s “behavior” and “action” AIBO’s movements are made up of comparatively brief units of movement (“motions”) — raising its face, taking steps — which are performed sequentially. Besides motion, AIBO expresses itself in various ways by emitting sound (melodies and sound effects) and flashing its LED lights. In AIBO Master Studio, motion, sound and LED lights combined make up an “action” and actions are strung together to produce continuous movement called a “behavior.
Chapter 1 Introduction What is AIBO Master Studio? AIBO Master Studio is an application that enables you to design actions and behaviors that your can AIBO perform. Create programs that make AIBO play games or act like a pet with unique actions and behaviors, so you can enjoy your own AIBO characteristics. AIBO Master Studio is compatible with wireless LANs (ERS-210/220 only), so you can efficiently make behaviors and actions using a wireless LAN. Compatible AIBO Models AIBO Master Studio ver.1.
Chapter 1 Introduction Behavior Arranger This application is a tool for making behavior programs for your AIBO. For instance, you can make a program to make AIBO walk along the perimeter of a square, or turn right or take a few steps backward when you touch its head. You can create behaviors that are more intricate by adding branches and subgroups of behaviors to the behavior program. Version 1.1 can create programs with voice-recognition capabilities and sounds (media link sounds, tonal scales).
Chapter 1 Introduction Relationships Between Programs In order to use AIBO Master Studio, first set up various items using the AIBO Master Studio Setup program, and copy the necessary system files for operating your AIBO model to a “Memory Stick.” Then you can create actions to be used by the behavior program. When you install AIBO Master Studio, built-in actions (system actions) will be copied to the hard disk.
Chapter 1 Introduction AIBO State Depending on AIBO’s mode, a built-in program may interrupt your behavior program and run instead. When AIBO resumes normal mode, the interrupted behavior program is reset and starts running again from the top. Before you have fun with your programs, look at the diagram below to understand how AIBO’s modes will affect your behavior programs. Normal mode Your program is executed from the beginning and AIBO moves as programmed.
Chapter 2 Preparations What you need to do to use AIBO Master Studio.
Chapter 2 Preparations Checking supplied accessories First, check that you have all the supplied accessories. x CD-ROM x “Memory Stick,” and case, and “Memory Stick” labels (3 labels) The included AIBO Programming Memory Stick ERA-MS008 is the same as the ones sold separately in stores. Save data you create using AIBO Master Studio on this “Memory Stick.
Chapter 2 Preparations System requirements You need to have an IBM PC/AT compatible machine with the following specifications: OS Microsoft Windows XP Microsoft Windows 2000 Professional (Service Pack 1 or newer) Microsoft Windows Millennium Edition Microsoft Windows 98 Second Edition English/French/German/Chinese Edition CPU Intel MMX Pentium 300 MHz and or greater RAM 64 MB or greater Drive: Hard disk drive: 120MB or greater CD-ROM drive (required for software installation) Video card and displ
Chapter 2 Preparations Set up Installing the software Install AIBO Master Studio from the accompanying CD-ROM. 1 Turn on your PC and start Windows. Notes • End all applications and virus detection programs before running the setup program. • When installing to Windows 2000, or Windows XP log on as the administrator or as an Administrators Group member. 2 Set up “Memory Stick” drive In order to use a “Memory Stick” with AIBO Master Studio, you first need to set the “Memory Stick” drive.
Chapter 3 Click OK The “Memory Stick” drive will be set. Note If other AIBO Master Studio applications are running, restart the programs to activate the applications. 2 Preparations Create a “Memory Stick” appropriate for your AIBO model In order to use the included “Memory Stick” or a separately sold “AIBO Programming Memory Stick” with AIBO Master Studio, you need the system files (OPEN-R folder) that are necessary for AIBO movements.
Chapter 1 2 Preparations Click the Start button in Windows and choose Programs AIBO Master Studio - AIBO Master Studio Setup. The AIBO Master Studio Setup dialog box appears. 2 3 Insert a “Memory Stick” into the drive. Select your AIBO model. Select your AIBO model name. An (E) model name means it does English voice-recognition.
Chapter For the PC You will need either of the following: • A PC equipped with an IEEE802.11bcompatible wireless LAN card* • PC connected to a wired LAN through an access point* compliant with the IEEE 802.11b standard * Please use Sony recommended products. When an access point is used 2 Preparations Wireless LAN information setup Insert the AIBO wireless LAN card into your AIBO, and start the setup program.
Chapter 3 2 Preparations qa Input the user ID (up to 8 alphanumerical characters) to log on to the wireless network. qs Input password (up to 8 alphanumerical characters) to log on to the wireless network. qd Enter the same password you input in step qs again to confirm it. Set up wireless LAN information. Tip If you don’t designate a user ID and password, anyone can access your AIBO wireless LAN connection without authentication, so we recommend that you set up a user ID and password.
Chapter 3 Quick Behavior Arranger How to use Quick Behavior Arranger.
Chapter 3 Quick Behavior Arranger Overview Quick Behavior Arranger enables you to create two kinds of programs. It’s a wizard, so even people who aren’t familiar with the program can easily create AIBO programs. The Tutorial Guide explains how to use Quick Behavior Arranger using examples. • Sequential Execution Type A behavior program describing a series of AIBO actions such as “stand up, move, and sit down.
Chapter 3 Quick Behavior Arranger How to Create Behaviors Start Quick Behavior Arranger, and create behavior programs by following the instructions on the screen. 1 Click the Start button in Windows and choose Programs AIBO Master Studio - Quick Behavior Arranger. 3 Select Behavior Program type and click Next. Follow the instructions on the screen. A window to select the model appears. Note You can use Behavior Arranger to edit programs created using Quick Behavior Arranger.
Chapter 28 3 Quick Behavior Arranger
Chapter 4 Behavior Arranger Procedures for using Behavior Arranger.
Chapter 4 Behavior Arranger Overview Behavior Arranger shows ABIO behaviors in a flowchart to create behavior programs. You can create anything from programs made of simple sequential actions such as “stand up and walk” to complicated programs using branching programs, and subroutines using conditions such as “when the head is touched, turn right.” You can use events that use sensor switches, as well as voice recognition words in English, and sounds (media link sounds and tonal scales), as conditions.
Chapter 4 Behavior Arranger Main components of Behavior Arranger In Behavior Arranger, program structures are expressed as flowcharts, making the programming process easier to understand. Choose from among the several boxes on the toolbar, drag them to the edit window, and connect them to create a flowchart. Toolbar Mouse modes In the edit window, operate the mouse by switching between the two modes. Mouse: normal mode Select this mode to place and move boxes in the edit window.
Chapter 4 Behavior Arranger Boxes Input commands in boxes and connect the boxes with the mouse. Action box Branch box The box is used for designating commands such as AIBO actions other than branching conditions. Sequential commands can be designated in one box. Commands in an action box are designated in the Action properties dialog box. This box is for designating a branch in the program. Branch conditions in a branch box are designated in the Branch properties dialog box.
Chapter 4 Behavior Arranger Group box Terminal box A box containing subroutine (grouped programs). The subroutine called by a group box is designated in the Group properties dialog box. The terminal box indicates the beginning or end of a program or a subroutine. The START box and END box in the Main group that are displayed when you first start making a program or subroutine are also terminal boxes. Designate the name of a terminal box in Terminal properties. Groups form levels.
Chapter 4 Behavior Arranger Creating and Editing Behaviors Create behavior programs either by starting Behavior Arranger and creating new programs, or by editing programs that you already have. This section explains how to create a new behavior program. Start 1 Click the Start button in Windows and choose Programs AIBO Master Studio and click Behavior Arranger. 3 Select your AIBO model Select your AIBO model name, and click OK. START Box and END Box appear in the Edit window.
Chapter 4 Behavior Arranger Arranging Boxes Position boxes in which to designate commands in the edit window. 1 4 Close properties dialog box Click OK in the properties dialog box. Box will be positioned in the edit window. Select a box Click the Box button on the toolbar or select Box from the Insert menu. A highlighted box appears. Tip You can also select Box from the context menu that appears by right-clicking on the edit window.
Chapter 4 Behavior Arranger Connect Boxes Once you position boxes in the edit window, connect box terminals to associate them with each other. A round dot on the top of a box is an input terminal, and a round dot at the bottom of a box is an output terminal. 1 Put the mouse in link mode Click 2 on the Toolbar.
Chapter Connecting group boxes with several output terminals If there are several output terminal boxes in a group (subroutine), as many output terminals as terminal boxes will appear for a corresponding group box. If you place the mouse cursor on an output terminal, the corresponding terminal box name will appear, so check the box name, choose a terminal, and drag it to the destination box to connect it.
Chapter 4 Behavior Arranger Save and Execute Behaviors Save created behavior programs using a “Memory Stick” drive (“Memory Stick” Reader/Writer) or using a wireless LAN, and execute them on AIBO. When you use a wireless LAN 1 Insert a “Memory Stick” with the appropriate system files into AIBO, and boot AIBO. 2 While the behavior program is displayed in the edit window, from the menu select File Wireless LAN Connection.
Chapter 4 Behavior Arranger Emergency Stop Immediately stops a process that is being executed by AIBO including the current actions. AIBO will be unstable after an emergency stop, and if you select Execute again, AIBO will start “stretching.” Write Transfers the behavior program to the “Memory Stick” inserted in AIBO without executing it. (The same as selecting the File-Save to Memory Stick from the menu.) Delete Deletes the behavior program from the “Memory Stick” inserted in AIBO.
Chapter 4 Behavior Arranger Creating and Editing Boxes Create or edit boxes, and specify program commands. Please see “Command Reference” (page 52) for available command details. Action box When you place an action box in the edit window or double-click on an existing box, the Action properties dialog box is displayed. Sequential commands (other than branching) can be designated in one box. 3 Combo box 2 Comment 4 Add Click this button to add to the list a command specified in the combo box.
Chapter 4 Behavior Arranger Branch box When you place a branch box in the edit window or double-click on an existing box, the Branch properties dialog box is displayed. Branch conditions are designated in this box. 4 Add 1 Name Click this button to add to the list a condition specified in the combo box. 2 Comment Input the box name. Modify Reflects changes made in the combo box to the list. Delete Deletes the selected line from the list. [Up] [Down] Moves the selected line up or down the list.
Chapter 4 Behavior Arranger Condition dialog box You can designate branch conditions for a branch box in dialog boxes other than the Branch properties dialog box. Put the mouse in link mode, and designate conditions in the Condition dialog box that appears when you drag from the branch box to the action box to jump to. 1 Combo box Enter branch conditions. If you don’t have several destinations in the branch box, select ELSE.
Chapter 4 Behavior Arranger Group box When you place a group box in the edit window or double-click on a group box without a designated group, the Group properties dialog box is displayed. Specify the group (subroutine) to activate in this box. If a group is already specified, right-click on the box and select Properties from the menu to display it. 1 Name 2 Comment Type in your comments about the box (optional). Input the box name. 3 Group Specify the name of the group activated by this box.
Chapter 4 Behavior Arranger How to designate a library to a group box If you save a behavior program, you can use the behavior program as a subroutine when making another program. A group of these programs (.be) is called a (behavior) library. AIBO Master Studio provides several libraries in the AIBO Master Studio\BA\Library folder for your use. in the edit window, the Open dialog box is displayed. Specify the When you place a library box program to be activated by the library box.
Chapter 4 Behavior Arranger Terminal box When you place a terminal box in the edit window or double-click a terminal box, the Terminal properties dialog box is displayed. Enter the terminal box name and comments in this box. 1 Name Input the box name. 2 Comment Type in your comments about the box (optional). 3 OK Closes the dialog box. Cancel Cancels a new box or an operation in the Terminal Properties dialog box.
Chapter 4 Behavior Arranger Using Groups Making a group Follow the procedure below to make a group (subroutine) that will be activated by a group box. 5 It returns to the edit window of the program that activates the created group (subroutine). When You Create Subroutines 1 From the menu, select GroupCreate New Group. Note Even if you close the edit window for a group, the group isn’t deleted. A Group dialog box appears. 2 6 Define the group. 1 Name Input the group name.
Chapter 4 Behavior Arranger When You Create a group (Subroutine) from a Group Box 1 Position the group box in the edit window, and input the name of the group in the Group properties dialog box. Input the group name to be created. A group will be created and an edit window for the group opens. The group box to activate the created group will be placed in the original edit window. 2 Create a behavior program (in the same manner as for a main group). 3 From the menu, select File-Close this Window.
Chapter 4 Behavior Arranger Moving from group to group If a group includes a child group (subroutine), you can move it from one group to another by using the history bar, and see a history of moves between groups. Key operation Home Moves to the Main group. End Moves to the group indicated at the bottom of the history bar. Page Up Moves to the group directly above in the history bar. Page Down Moves to the group directly below in the history bar.
Chapter 4 Behavior Arranger Rearranging terminals If a group that has several output terminal boxes is activated from a group box, you can rearrange the terminals to keep the connection lines from crossing. 1 In the group box, place the mouse pointer over the terminals to check the names of the terminals you want to rearrange. Terminal 1 Terminal 2 Terminal 3 4 Choose a line and click [Up] [Down] to change the terminal order. In the case of a Step 1 screen, change the order to [1] [3] [2].
Chapter 4 Behavior Arranger How to Use Created Actions To include actions other than system actions – i.e. actions using original motions, sounds, and LED flashing patterns – in a behavior program, follow the procedure below. 1 In Action Composer, create an action library that includes the action you want to use and save it to the “Memory Stick” (page 81). A copy of the action library is also made in the hard disk, allowing you to refer to the action library from Behavior Arranger.
Chapter 4 Behavior Arranger Printing Behaviors You can print a flowchart of behavior programs that you have created. Please set up the page before printing. Page Setup 1 From the menu, select File - Page Setup. Print 1 The Page Setup dialog box appears. From the menu, select File Print. The Print dialog box appears. Tip You can change the printer you want to use by clicking Printer. 2 Set Paper, Orientation, and Margins. 3 Click OK.
Chapter 4 Behavior Arranger Command Reference You can refer to Behavior Arranger commands in this manual as well as the Help system. Click the Start button in Windows, choose Programs -AIBO Master Studio- Command Reference, or select the Help menu from within Behavior Arranger, then Command Reference. Action box commands Overwrite execution Action playback commands (Play-Action) This section shows a list of names for built-in system actions (commands are listed alphabetically).
Chapter 4 Behavior Arranger Overwrite execution MOVE.MOVE.NORMAL OK Walks to the designated position. Horizontal angle –180 to 180 Distance Overwrite execution PALONE.AUTO.TAILH (ERS-210 only) OK Wags tail left to right. Unit: ° PALONE.AUTO.TAILROT (ERS-210 only) 0 to 10,000 Unit: mm OK Rotates tail. MOVE.MOVE.SLOW OK PALONE.AUTO.TAILSTOP (ERS-210 only) Walks slowly to the specified position. Horizontal angle –180 to 180 Distance OK Stops moving tail. Unit: ° 0 to 10,000 Unit: mm PALONE.
Chapter 4 Behavior Arranger Overwrite execution SIT NG Sits. Overwrite execution SMESS.NOTICE.NOTICE2 OK Notice 2 for debugging. ERS-210: SMESS.ERROR.ERROR1 OK Turn on the mode indicator, the eye lights (all), and the tail light. Error notice 1 for debugging. ERS-220: ERS-210: Flashes the mode indicator, the left eye ERS-310 series: lights (three) and the tail light. Slowly flashes the horn light in orange, ERS-220: Turns on both the right and left face and turns on the mode indicator.
Chapter Programming precautions • Command Completion Since action commands (PLAY) such as “walk” and “shake head left and right” take time from execution to completion of the action, AIBO returns a completion notice when the action is completed. If you create a program that executes action commands after a completion notice is received, Individual actions can be steadily executed in sequence.
Chapter 4 Behavior Arranger Other commands IOR Logical OR (logical OR per bit) [Variable*] | [Var/Value*] STOP Stops AIBO. XOR If an action is being played back, AIBO is stopped Exclusive OR (exclusive OR per bit) after the action is completed. [Variable*] ^ [Val/Value*] QUIT RND Stops AIBO immediately. Random number AIBO is stopped even in mid-action. Generates a random number from a specified range of [From#] to [To#].
Chapter 4 Behavior Arranger Variables The following variables can be used in action boxes and branch boxes in addition to user variables. Common to all models Other variables Using the AIBO internal clock Status AIBO falls down, the variable is set to “1.” Year Year Detects if it has fallen or is in normal state. When Effective range: 2000 or later Month Month To clear the variable, use the SET command to enter “0.
Chapter 4 Behavior Arranger AU_AiboSound Body_Temp Used for AIBO-ware with media link mode AIBO Temperature Unit: °C capability. When an AIBO sound such as a media link sound is detected, the variable is set to “1.” Distance from the obstacle sensor to an obstacle. To clear the variable, use the SET command to enter If there are no obstacles, “900” will return. “0.” Effective range: 0 - 600 AU_AiboSound_ID Tone ID of an AIBO sound such as a media link sound.
Chapter 4 Behavior Arranger Words that can be used for voice recognition 22 Show time Ask AIBO to perform 23 Pose for me Ask for a special pause The following voice recognition terms can be used as AU_Voice_ID variables. What action AIBO should take in response to a word input can be freely determined.
Chapter 4 Behavior Arranger 44 Left leg kick 45 Left leg touch Make AIBO touch the pink ball with its left foreleg 46 Ready set go Make AIBO start competing 47 You won Tell AIBO that it won 48 You lost Tell AIBO that it lost 49 Action one Free use 50 Action two Free use 51 Action three Free use 52 Action four Free use 53 Action five Free use Make AIBO kick the pink ball with its left hind leg Media link sounds that can be used for sound recognition AIBO-ware “AIBO Pal (ERF-31
Chapter ID File name 1 AS_Start_AC 6 AS06_Hello Behavior Arranger Reaction of AIBO ERS310 series with AIBO Pal (ERF-310AW07E) installed 18 AS18_Surprise Pose of surprise. 19 AS19_Sad Pose of sadness. 20 AS20_Relief Pose of relieved look. If you have two AIBO ERS-310 series units with AIBO Pal installed, and they hear this melody, they will begin communication between each other. (Same as letting AIBO recognize the word “Talk to your friend.”) 21 AS21_Appeal Requests and desires.
Chapter 4 Behavior Arranger Tonal scales that can be used for sound recognition Using AIBO’s perfect pitch, you can utilize tonal scales as AIBO ERS110/111 commands. AIBO Master Studio version 1.1 can create programs to detect such tonal scales. The following tonal scales can be used for the variable AU_AiboTone_ID. (Use sounds in the installed Sample\AiboTone folder and AIBO ERS-110/111 sound commander for input.) What action AIBO should take in response to tonal scales can be freely determined.
Chapter 4 Behavior Arranger *ID 1 – 34 are command type A, and 35 – 68 are command type B. ID Tonal Scale Sound file ID Tonal Scale Sound file Button in the sound Settings of AIBO controller that comes ERS-110/111 with AIBO ERS-110/111* Command number method Short scale Meaning of tonal scale method 11 C5 Eb5 G5 AT11.mid 45 C6 Eb6 G6 AT45.mid 11tSEND CD#G Stand up 12 C5 G5 Eb5 AT12.mid 46 C6 G6 Eb6 AT46.mid 12tSEND CGD# Sit down 13 G5 Eb5 C5 AT13.mid 47 G6 Eb6 C6 AT47.
Chapter 4 Behavior Arranger For AIBO ERS-210/220 Head_LONG ERS-210: Using AIBO touch sensors When the head sensor is pressed for 3 seconds or longer, the variable is set to “1.” Head_ON ERS-210: ERS-220: When the head sensor is pressed, the for 3 seconds or longer, the variable is variable is set to “1.” ERS-220: When the head sensor is pushed down set to “1.” When the head sensor is pushed down, To clear the variable, use the SET command to enter the variable is set to “1.” “0.
Chapter RFLeg_ON 4 Behavior Arranger LRLeg_OFF When the paw sensor on the front right leg is The length of time the paw sensor on the hind left pressed, the variable is set to “1.” leg was pressed. To clear the variable, use the SET command to enter Effective range: 0 to 10,000 Unit: ms “0.” RTail_ON (ERS-220 only) RFLeg_OFF When the tail sensor (light) is pressed, the variable is The length of time the paw sensor on the front right set to “1.” leg is pressed.
Chapter 4 Behavior Arranger LTail_ON (ERS-220 only) RFLeg_3 When the tail sensor (left) is pressed, the variable is Second joint of front right leg (elbow): angle of front set to “1.” and back direction Unit: ° To clear the variable, use the SET command to enter LFLeg_1 “0.” First joint of front left leg (shoulder): angle of front LTail_OFF (ERS-220 only) and back direction Unit: ° The length of time the tail sensor (left) was pressed.
Chapter Tail_Tilt (ERS-210 only) 4 Behavior Arranger For AIBO ERS-310 series Tail: angle of vertical (up and down) direction Unit: ° Tail_Pan (ERS-210 only) Tail: angle of horizontal (right and left) direction Unit: ° Using AIBO touch sensors Head_ON When the head is pressed, the variable is set to “1.” To clear the variable, use the SET command to enter “0.” Head_OFF The length of time the head was pressed.
Chapter 4 Behavior Arranger Tail_RollL Tail_D_ON If the tail is rolled once to the left, the variable is set If the tail is pushed toward the back, the variable is to “1.” set to “1.” To clear the variable, use the SET command to enter To clear the variable, use the SET command to enter “0.” “0.” Tail_U_LONG Tail_R_ON If the tail is pushed toward the front for three If the tail is pushed toward the right, the variable is seconds, the variable is set to “1.” set to “1.
Chapter RRLeg_ON 4 Behavior Arranger RFLeg_2 When the paw switch on the hind right leg is First joint of front right leg (shoulder): angle of right pressed, the variable is set to “1.” and left direction Unit: ° To clear the variable, use the SET command to enter RFLeg_3 “0.” Second joint of front right leg (elbow): angle of front RRLeg_OFF and back direction Unit: ° The length of time the paw switch on the hind right LFLeg_1 leg was pressed.
Chapter 5 Action Composer Procedures for using Action Composer.
Chapter 5 Action Composer Overview The Action Composer application lets you modify the sample actions or create actions from scratch. By using original actions tailored to each situation, your AIBO will become capable of unique expressions. The actions you create are incorporated in a behavior program with Quick Behavior Arranger or Behavior Arranger. What you can make with Action Composer With Action Composer, you can make elements that compose an action, actions themselves and action libraries.
Chapter Sound AIBO can use sounds in WAVE and MIDI formats for melodies and sound effects, and import a file made with a commercially available sound editor to use as a sound element in Action Composer. Action Composer is very convenient as you can make MIDI sounds that are compatible with AIBO without worrying about format restrictions. You cannot make WAVE files in Action Composer but you can import and edit WAVE files. When a sound is saved, a sound file (.wav or .mid) will be made.
Chapter 5 Action Composer Files that can be created in Action Composer The five following types of files can be created in Action Composer. Motion files (.mtn) Element file Sound files (.wav, .mid) Element file LED files (.led) Element file Action files (.act) Management file of element combination Action library files (.alb) Libraries of action files These files are related to a program as shown in the following diagram.
Chapter 5 Action Composer Window organization Action Composer is made up of several windows as illustrated below. Pose Window Motion Viewer* Key frames in a motion are displayed. Use this function to copy key frames. Open this window to edit AIBO’s poses (key frames within a motion). Main window MIDI Window* Start Open this window to create MIDI sounds for AIBO to play back. The piano roll interface lets you visually check the movement and length of notes.
Chapter 5 Action Composer Creating and Editing Files Action library files, action files, and element files can be created in a flowing series or individually. Files can be created by loading and editing existing files, however this section describes how to create new files. Files that you created using previous versions of AIBO Master Studio except sound files can be loaded as AIBO ERS-210 files. (Sound files can be commonly used with AIBO ERS-210/220/310 series).
Chapter 5 5 Action Composer Create new action file Either click , or from the menu, select Action-New Action. The Create Actions dialog box to save action file appears. 6 Save new action file Choose where to save the file, input action file name, and click Save. An action file will be created and the action name and action file name will appear in the detailed information area of the Main Window. Note You cannot create WAVE files in Action Composer.
Chapter 5 Action Composer See “Action Composer” in “Chapter 6 Reference” (page 114) for explanation of Action Window names and functions. 9 Edit elements Edit motions in the Action Window. Edit sound files in the MIDI or WAVE Window, and LED files in the LED Window. The windows appear when you select Elements-Edit Sound or ElementsEdit LED from the menu. For information about editing elements, see “Editing Elements” (page 82).
Chapter 5 Action Composer Creating an action file first If you already have element files that can be used, you can create action files. Motion files can be created at the same time as action files. 1 Click the Start button in Windows and choose ProgramsAIBO Master Studio-Action Composer Tool-Action Window. The Select model dialog box appears. 2 Select your AIBO model. To include action files that you have created in an action library file, select Action-Add Action from the Main Window menu.
Chapter 5 Action Composer Creating an element file first If you create and add element files as you have ideas, that will be very convenient, as you will have a wider variety to choose from when creating actions. Motion file 1 Click the Start button in Windows and choose ProgramsAIBO Master Studio-Action Composer Tool-Action Window. Sound file Note You can make simple edits to a WAVE file in the WAVE Window, but you cannot create a new file.
Chapter 2 Select your AIBO model. 4 Select your AIBO model name and click OK. A LED Window appears. 3 5 Action Composer Save the LED pattern. From the menu, select File-Save As to save it. Create a LED pattern. Using action libraries in Behavior Program Save action library files that you created to a “Memory Stick” by using either a “Memory Stick” drive or by transferring them to AIBO over a wireless LAN.
Chapter 5 Action Composer Editing Elements This section describes how to edit elements. Tip Please refer to the element samples (Sample.alb) and work samples (Extras.alb) in the \Sample\model name folder. Motion file Edit motions using the Action Window. Edit individual poses in key frames in the Pose Window. 1 Editing motions Click the position in the motion channel at which you want to create a pose. The Current Bar will move, and the frame at the current position will be selected.
Chapter Editing in the motion channel 1 Select the frame you want to edit. To select a single key frame, click on the key frame. To select subframes other than key frames, move the current bar to select a single frame at the current position. To select sequential key frames together, click the first key frame and then shift-click the last key frame. Selected key frames turn light blue, and the frames turn black. 2 5 Action Composer From the Edit Motion menu, choose the edit command you want.
Chapter 5 Action Composer Using existing motion files You can insert an existing motion file into a motion you’re working on or copy key frames from an existing motion file. 3 Select a key frame as in step 1 of “Editing in the motion channel.” To select all the frames, choose Edit-Select All from the menu. x To insert a motion 1 Select the frame where you want to insert the motion. 4 2 From the menu, choose Elements-Insert Motion and choose the motion file.
Chapter 5 Action Composer Adjusting the positions of key frames Editing Poses Adjust the position of a key frame to change a movement’s timing. All key frames except for the key frame of the start pose can be adjusted. Changing start and end poses 1 Right-click on a key frame. The context menu appears. 2 Choose Set Interpolation Frame. The dialog box appears. 3 In the Key frame channel, choose the poses you want from the start and end combo box. Start and end poses cannot be modified.
Chapter 5 Action Composer Setting up a pose In the Action Window, double-click a key frame in the key frame channel. The Pose Window will appear for you to define a pose. A pose is defined by specifying the angles of AIBO’s joints for any given moment. 1 Double-click a key frame displayed in the key frame channel. The Pose Window opens. 2 Select a body part either from the part list or the AIBO graphic, and set the angle.
Chapter Precautions on motions Take the following precautions when making a motion. For tips on creating motions, see the “Tutorial Guide” advanced course section. • If the joints move too abruptly from one key frame to another, the graph in the motion channel turns red. Scroll through the motion channel to check for red lines and adjust the motion to make red indications disappear.
Chapter 5 Action Composer Editing sound AIBO uses MIDI and WAVE files for sound effects and melodies. The MIDI and WAVE files are edited in separate windows. Note • There are sample media link sounds used in AIBO Pal (ERF-310AW07E) for AIBO ERS-310 series and command sounds (tonal scales) for AIBO ERS-110/111 that you can use as elements. (Behavior Arranger can create programs to respond to these sounds.) Media link sounds: installed folder \Sample\AiboSound\ Tonal scales: installed folder \Sample\AiboT
Chapter Setting basic items x Making sound data Set the items below before you start composing sound. 1 Tempo box Time box Choose the number of beats per minute, in quarter notes. You can choose from 120, 160, and 240 beats/min.* 2 Composing sound Specify the note and place sound data on the score channel. The velocity (impact) of a sound is indicated by the vertical line in the velocity channel. Change the length of the line to adjust the impact of a sound.
Chapter 5 Action Composer x Changing sound data 1 Click . It switches to select mode. 2 Select the sound data you want from the score channel and make changes. x Changing the velocity You can change the velocity (impact) of a sound by changing the length of the vertical line in the velocity channel. Velocity for several sounds can be changed together. You can gradually increase or reduce the volume easily by changing the velocity.
Chapter 2 From the Edit menu, choose the edit command you want. Undo Cancels the last operation and returns to the previous state. Redo Resume an operation canceled by using Undo. Cut Cuts out the selected sound data and copies it to the clipboard. Copy Copies the selected sound data to the clipboard. Paste Pastes the clipboard contents starting from the current position onto the selected scale. Insert Inserts the clipboard contents in the current position for all scales.
Chapter 5 Action Composer WAVE file Tips You can use WAVE files that were made with commercially available sound editors. Use the WAVE Window to edit WAVE files. Playback button Plays back the sound If you click the playback button at this point, you can play back the selected segment. 2 From the Edit menu, choose the edit command you want. Undo Cancels the last operation and returns to the previous state. Redo Resume an operation canceled by using Undo.
Chapter 5 Action Composer LED file Flashing LED patterns are created and edited in the LED Window. You can specify the duration and brightness of each LED flash. All you need to do is select a brightness level for the LED and arrange the LED data in the LED window. The vertical axis represents the LED and the horizontal axis represents time, so you can specify patterns intuitively. Playback button Plays back the LED data.
Chapter 5 Action Composer Creating LED data Changing LED data Select a brightness level and arrange the LED data in the LED window. The length of the arranged LED data corresponds to the duration of the light. 1 From the menu, Select Setup Select Mode. Specifying LED data 2 Select the LED data you want from the score channel and make changes. 1 Select the brightness level and place LED data on the score channel.
Chapter 5 Action Composer Editing overall LED data 1 Select the LED data you want to edit. Select Setup - Select Mode from the menu, and choose the LED data that you want to change. You can drag on the score channel to select several LED data together. To select all LED data on the score channel, choose Edit-Select All from the menu Selected LED data is indicated by a black line around it. 2 From the Edit menu, choose the edit command you want.
Chapter 5 Action Composer Synchronizing elements In Action Composer, you can synchronize the three elements by adjusting the starting point of a sound or by using markers. Adjusting the starting point of a sound file You can adjust the point where a sound file (WAVE/MIDI) begins playback. To make adjustments within an element use the markers. 1 In the Action Window, choose Elements-Set Sound Start Point from the menu. The Sound Start Point dialog box appears.
Chapter 5 Action Composer Checking elements and actions You can check elements and actions that you created with Action Composer by playing them back on a PC or by transferring them to AIBO over a wireless LAN environment (ERS-210/ 220). Note Only actions and elements included in action libraries can be tested. 1 In Action Composer’s Main Window, click an action or element file. Previewing on the PC You can check actions that you created by playing them back on the PC.
Chapter 5 Action Composer Printing windows You can print action library files that you have created to check the component information of each action. You can also print the Action/WAVE/MIDI/LED windows. Set up the page before you print. Page Setup 1 From the menu, choose FilePage Setup. Print 1 The Print Setup dialog box appears. 2 Set Printer, Paper, and Orientation. 3 Click OK. From the menu, choose FilePrint. The Page Setup dialog box appears.
Chapter 5 Action Composer Importing/exporting files Action Composer can import/export library files, and export action files. Import/export of action library files You can import and export an action library file in plb (Packed action LiBrary) format. This enables you to easily exchange action libraries with other AIBO Master Studio users and move libraries between PCs. Exporting 1 From the menu in the Action Composer Main Window, choose File-Export Library.
Chapter 5 Action Composer Using other AIBO-ware action files If you export action files to axf (Action Export File) format files, actions can be imported and used depending on the AIBO-ware application. For instructions on importing actions, see each AIBO-ware application’s user’s guide. Exporting action files 1 In the Action Composer Main Window, choose an action to export, and from the menu, choose Action-Export Action. The Action Data dialog box appears.
Chapter 6 Reference
Chapter 6 Reference Troubleshooting If you experience any of the following difficulties, use this troubleshooting guide to remedy the problem. Refer also to the Readme/FAQ information located in the folder where AIBO Master Studio is installed. Should the problem persist, please contact AIBO Customer Link. Symptom Remedy The software cannot be installed from the CD-ROM. • There isn’t enough space in the hard disk. c Check the hard disk space.
Chapter 6 Reference Symptom Remedy Data cannot be written to the “Memory Stick.” • The “Memory Stick” is not inserted correctly. c Check that the “Memory Stick” is inserted in the drive correctly. • The “Memory Stick” drive is set incorrectly. c Set the drive correctly in the AIBO Master Studio Setup window (page 20). • System files hasn’t been copied. c To use a “Memory Stick” with AIBO Master Studio, you need to copy the appropriate system files for your AIBO to the “Memory Stick” (page 21).
Chapter 6 Reference Symptom Remedy AIBO emits a sad melody and does not move when its pause button is pressed. • Battery is low c To be safe, AIBO will stop acting and lie on its stomach. Charge the battery. • The “Memory Stick” contains commercially available AIBO-ware. c You cannot execute programs on AIBO using a commercially available AIBO-ware “Memory Stick” that already contains an application for operating AIBO such as “AIBO Life.
Chapter 6 Reference “Memory Stick” Suitable “Memory Stick” products AIBO uses an entertainment-robot-dedicated “Memory Stick” as media to record behavior programs. Programs created and edited with AIBO Master Studio should be saved to the supplied “Memory Stick” (including old version accessories) or to a separately sold “AIBO Programming Memory Stick” and then executed on AIBO. The “Memory Stick” is the interface between your AIBO and the PC.
Chapter 6 Reference Removing the “Memory Stick” from the PC card adapter To remove the “Memory Stick” from the PC card adapter, click the icon in the Windows taskbar for the “Memory Stick” slot drive and then click Stop Standard IDE/ESDI Hard Disk Controller. Wait for the message “You may safely remove this device” to appear before removing the “Memory Stick.” Note After the PC finishes writing data to the “Memory Stick,” wait for a while before removing the “Memory Stick.
Chapter 6 Reference Specifications Memory Flash memory Capacity 8 MB Voltage 2.7 V to 3.6 V Power consumption Approx. 45 mA, average operation Max. 130 µA, standby Write speed Max. 1.5 MB/s Read speed Max. 2.45 MB/s Operating temperature 0 ˚C to 60 ˚C (32 ˚F to 140 ˚F), without condensation Dimensions Approx. 21.5 × 50.0 × 2.8 mm (0.85 × 1.97 × 0.11 in.) (w/h/d) Mass Approx. 4 g (0.14 oz) Design and specifications are subject to change without notice.
Chapter 6 Reference Behavior Arranger Names and functions of the window 1 2 3 456 7 8 9 0 qa qs qg qd qf 1 Mouse: Normal mode button Sets the mouse function to normal mode. This button has the same function as the menu’s Edit-Mouse:Normal Mode. 2 Group name The name of the group in the window. The group at the top level is Main. 3 Mouse: Link mode button Sets the mouse function to link mode. This button has the same function as the menu’s Edit-Mouse:Link Mode.
Chapter 9 Edit window This is where you make a program. 0 Terminal box (gray) Indicates the start of a program. The box name is START in the Main group and ENTRY in a new group. qa Action box A box that specifies sequential actions. qs Branch box 6 Reference qd Group box A box that specifies the group (subroutine) to be activated. qf Terminal box (blue) Indicates the end of a program. The box is named END in the Main group and RETURN in a new group. qg History bar Displays group levels.
Chapter 6 Reference Edit Undo Cancel the last operation and return to the previous state. Redo Resume an operation canceled using Undo. Cut Cuts out the selected box. Copy Copies the selected box. Paste Pastes the box that was copied. Program Comments Adds comments to the program. Mouse: Normal Mode Sets the mouse to normal mode. Resize Edit Range Sets the size of the edit area. The area cannot be set to a size smaller than the current edit window.
Chapter 6 Group Help Create New Group Creates a new group. User’s Guide Opens this User’s Guide. Delete this Group Deletes the displayed group. Deleting the group will not delete the group box that calls that group. Command Reference Displays the Command Reference. Rename Group Changes the name of the displayed group. View Group Image Shows the image (.bmp) added to the displayed group. Add Image to Group Adds an image (.bmp) to the displayed group.
Chapter 6 Reference Mouse operation Edit window Mouse operations in the edit window are as follows: Left click On a box: selects the box On a connection line: selects the connection line: Left double-click Displays properties, opens a group. Left drag On a box: moves the box (when mouse is in normal mode). connects boxes (when mouse is in link mode). Outside a box: selects an area (when mouse is in normal mode). On a connecting line: moves the line.
Chapter 6 Reference Keyboard operation Edit window Keyboard operations in the edit window are as follows: Directional keys ( T t R r ) Moves the pointer. Making selections Space bar Makes a single selection. Ctrl + space bar Makes several selections. Tab Jumps to next selection. Application key Displays the context menu. Function keys F1 Displays the User’s Guide F2 Enter program comments. F3 Sets mouse to normal mode. F4 Sets mouse to link mode. F5 Creates an action box. F6 Creates a branch box.
Chapter 6 Reference Action Composer Main window Names and functions of window 1 2 3 4 5 1 New Action button Creates a new action. 2 Edit Action button Edits the selected action. Clicking this button opens the Action Window. 3 Delete Action button Deletes the selected action. Deleting an action will not delete element files. 114 4 Library display area Shows the tree organization of action and element files. You can select a file to add, edit or delete.
Chapter 6 Reference Menus File New Library Creates a new action library. Upload Library To AIBO This feature can be used if wireless LAN is set up. Using wireless connection, the library is uploaded to the “Memory Stick” in AIBO. Open Library Opens a library saved in the action library file (.alb). Actions and elements in a library are opened at the same time and can be edited. Import Library Imports the contents of a Library file. Save Library Saves the library to an existing file (alb.).
Chapter 6 Reference Copy Copies selected actions and elements to the clipboard. Paste Inserts the clipboard contents without renaming its elements. New Motion Creates a new motion and adds it to the specified action. Add Motion Add an existing motion to the specified action. Paste Renamed Selection Inserts the clipboard contents and renames its elements. Preview Motion Displays key frames of the specified motion on a timeline. The Motion Preview window appears.
Chapter Add LED Adds an existing LED file to the specified action. 6 Reference Status bar Switches on/off the status bar display. Edit LED Edits the specified LED file. Options Switches the navigation dialog box on/off when the program starts. Delete LED Deletes the specified LED file. Help User’s Guide Opens this User’s Guide. Test Test Action You can use this function if you have a wireless LAN connection. Transfers selected actions to AIBO for testing.
Chapter 6 Reference Action Window Names and function of window 1 2 3 45 6 7 8 9 qk qj 0 qh qa qs qd qg qf 1 Current time/frame display Indicates the current position in seconds (unit: 1/100 s) or frames (1 frame = 0.016 s). 2 Total time/frames display Shows the total time (unit: 1/100 s) or frames of the action. 3 Current bar Indicates the current position. The tab shows the time (unit: 1/100 s) or number of frames.
Chapter 9 Marker channel Markers added in each Window and (light blue) marks indicating key frame position are displayed together in this channel. When you click on the channel while pressing the Alt key, an action marker appears. To delete a marker, click on the marker while pressing the Alt key. 0 Key frame channel Key frames in a motion added to the action are displayed in this channel. qa Motion channel When a motion is added to the action, this channel shows the transition of each joint angle.
Chapter 6 Reference Print Prints time/frame channel, key frame position, joint angle change graph, sound bar, and LED bar. Recent file Displays up to the last four recently used files. Properties Displays/inputs properties of the specified action file. Exit Closes the Action Window. Paste Pastes the clipboard contents onto the current position. Delete Frame Deletes the selected frame. Insert Frame Inserts a subframe in the current position.
Chapter 6 Reference Add Sound Opens an existing sound file and displays it in the sound channel. Edit Sound Edits the sound that is displayed. The MIDI or WAVE Window appears. Delete Sound Deletes the displayed sound. Set Sound Start Point Changes the starting position of the sound. Add LED Opens an existing LED file and displays it in the LED channel. Edit LED Edits the LED file that is displayed. The LED Window appears. Delete LED Deletes the displayed LED file.
Chapter 6 Reference Pose Window Names and function of window 1 2 3 4 5 6 7 8 qs qa 1 3D view Displays a 3D view of AIBO. 2 Zoom button Zooms in /out the 3D AIBO. Click this button, then drag on the 3D view. 3 Rotate button Rotates the 3D AIBO. Click this button, then drag on the 3D view. 4 Pan button Pans the 3D AIBO. Click this button, then drag on the 3D view. 5 Home position button Resets the 3D AIBO to the viewpoint set in the switch view box. 6 Max.
Chapter 6 Reference MIDI Window Names and function of window 1 23 4 5 6 7 8 qk qj qh 9 qg 0 qf qd qs qa 1 Current time/frame display Indicates the current position in seconds (unit: 1/100 s) or frames (1 frame = 0.016 s). 2 Total time/frames display Shows the total time (unit: 1/100 s) or frames of the sound. 3 Current bar Indicates the current position. The tab shows the time (unit: 1/100 s) or number of frames.
Chapter 6 Reference 0 Velocity channel The channel where sound impact is specified for each sound data. When a sound data is first placed, it is set to the maximum velocity; the velocity can then be adjusted with the mouse. qa Sound data Specifies the length and scale of a single note. qs Select button It switches to select mode, and enables you to select sound data you have prepared. qd Time interval change box Changes the time interval displayed for a channel.
Chapter Redo Resume an operation canceled by using Undo. Cut Cuts out the selected sound data and copies it to the clipboard. 6 Reference Help User’s Guide Tutorial Guide AIBO Homepage About Action Composer... Refer to the section on the Main window (page 114). Copy Copies the selected sound data to the clipboard. Paste Pastes clipboard contents onto the current position. Insert Inserts clipboard contents in the current position. Delete Deletes selected sound data.
Chapter 6 Reference WAVE Window Name and function of window 1 23 4 5 6 7 8 qs 9 qa 0 1 Current time/frame display Indicates the current position in seconds (unit: 1/100 s) or frames (1 frame = 0.016 s). 2 Total time/frames display Shows the total time (unit: 1/100 s) or frames of the sound. 3 Current bar Indicates the current position. The tab shows the time (unit: 1/100 s) or number of frames.
Chapter 6 Reference Menus File Open Opens an existing WAVE file and displays it on the score channel. Save Saves the displayed WAVE file to an existing file. Save As Saves the displayed WAVE file with a new filename. Page Setup Changes printer page settings. Print Prints a WAVE file. Recent files Displays up to the last four recently used WAVE files. Exit Closes the WAVE Window. Edit Undo Cancels the last operation and returns to the previous state. Redo Resume an operation canceled by using Undo.
Chapter 6 Reference LED Window Names and functions of window 1 2 3 4 56 7 8 qh 9 qg qf qd qs qa 1 Current time/frame display Indicates the current position in seconds (unit: 1/100 s) or frames (1 frame = 0.016 s). 2 Total time/frames display Shows the total time (unit: 1/100 s) or frames of the LED. 3 Current bar Indicates the current position. The tab shows the time (unit: 1/100 s) or number of frames.
Chapter 0 LED data Specifies the duration and brightness of an LED light. qa LED list A list of LED names corresponding to the score channel. qs Brightness buttons Choose from among four brightness levels. 6 Reference qf Sec/frame box Switches the display unit. qg LED diagram Select LED to switch to input mode. You can see the corresponding LED channel. It also shows the selected color of the LED. qh Playback button Plays back LED pattern.
Chapter 6 Reference Redo Resume an operation canceled by using Undo. Brightness 2 Sets the LED’s brightness to 50%. Cut Cuts out the selected LED data and copies it to the clipboard. Brightness 3 Sets the LED’s brightness to 75%. Copy Copies the selected LED data to the clipboard. Paste Pastes clipboard contents onto the current position. Insert Inserts clipboard contents in the current position. Delete Deletes the selected LED data. Select All Selects all LED data on the score channel.
Chapter 6 Reference Preview Window Names and functions of window 1 2 3 4 5 6 7 8 9 0 qa qsqd qf qg 1 3D view Displays a 3D view of AIBO. 2 LED display A preview of the LED data appears. 3 Start pose button Returns to the start pose. 4 Previous key frame button Displays the previous key frame. 5 Previous frame button Displays the previous frame. 6 Playback/stop button Plays back the action. Click again to stop playback. qh 8 Next key frame button Displays the next key frame.
Chapter 6 Reference qd Rotate button qg Home position button Rotates the 3D AIBO. Click this button, then drag on the 3D view. qf Pan button Resets the 3D AIBO to the view set in the switch view box. qh Current time display Pans the 3D AIBO. Click this button, then drag on the 3D view. Indicates the current position in seconds (unit: 1/100 sec).
Chapter 6 Reference Menus File Help Open Opens an existing motion file and displays the key frames. User’s Guide Tutorial Guide AIBO Homepage About Action Composer Refer to the section on the Main window (page114). Print Prints time/frame channel, key frame position, and joint angle movement graph. Page Setup Changes printer page settings. Recent files Displays up to the last four recently used motion files. Exit Closes the Motion Preview window.
Chapter 6 Reference Glossary AIBO Master Studio Setup terms Gateway Wireless LAN Hardware and software device connecting two different systems (a wired LAN and a wireless LAN). It is required if your wireless LAN uses Infrastructure Mode. A local area network that uses radio waves and/or infrared to transmit packets through the air instead of using cables. IP address An IP protocol address (a number) used to specify a network and a node on that network.
Chapter Quick Behavior Arranger/ Behavior Arranger terms 6 Reference Action Composer terms Action Behavior An AIBO movement that is made up of several actions. You can create complicated movements, including ones that respond to conditions such as sensor inputs. Sequential Execution type A Behavior Program that executes a series of actions one after another. Stimulus - Drive Execution Type A Behavior Program that runs actions when sensor, sound, and other events occur.
Chapter 6 Reference Pose Data specifying the angle of each AIBO joint. AIBO can be made to move in various ways by specifying the angle of each joint. Start pose/end pose: Start and end poses are important basic poses. Even when different poses connect motions, by using set poses, AIBO’s built-in program enables AIBO to make a smooth transition from one pose to the next.
Chapter 6 Reference File organization and files This section indicates the organization and names of files contained in the AIBO Master Studio folder, the folder where the software is installed. Common composer \AIBO Master Studio\Sample (Behavior Arranger, Action Composer sample, learning materials used in the Tutorial, etc.) \AIBO Master Studio\REDIST (“Memory Stick” images and files that are copied in AIBO Master Studio Setup.) Behavior Arranger \AIBO Master Studio\BA\bitmap (Bitmap files for settin
Chapter 6 Reference Principal files Behavior file Packed action library A file that is edited and created with Behavior Arranger. The behavior file contains AIBO’s behavior program, a combination of actions. Extension: *.be This file contains an Action Library, Action files that make up the Action Library, and element files. It is convenient for exchanging complete Action Libraries with other AIBO Master Studio users. Extension: *.
Chapter 6 Reference Index Accessories 18 Action 12, 73, 135 Configuring elements 72 How to use created actions 50 Play-Action commands 52 Window organization 75 Action box 40 Action box commands 52 Editing commands in a list 40 Action Composer 71 Files that can be created in Action Composer 74 What you can make with Action Composer 72 Action files 73, 74, 138 Exporting action files 100 Action library 73 Action library files 73, 74, 138 Action Window 118 Menu 119 Window names and functions 118 Boxe
Chapter 6 Reference Editing poses 85 Elements 72, 135 Checking elements and actions 97 Editing 82 Element file 74 Synchronizing 96 Execute connection test 24 Executing tests 97 Exporting 99, 100 Action file 100 Action Library file 99 File Action file 73, 74, 138 Action library file 73, 74, 138 Creating and editing 76 Element file 74 Importing/exporting 99 LED file 73, 74, 93, 138 Main files 138 Sound file 73, 74, 88, 138 File organization and files 137 Gateway 134 Group box 43 Groups How to use 46 Mo
Chapter Preview 97 Preview Window 131 Window names and functions 131 Printing Action Composer Printing 98 Print behaviors 51 Program configuration 13 Quick Behavior Arranger 25 Rearranging terminals 49 Relationships Between programs 15 Sequential Execution Type 135 Setting Setting “Memory Stick” drive 20 Setting up a wireless LAN environment 22 Setup 20 Sound 73, 136 Sound file 73, 74, 88, 138 SSID 134 Start Behavior Arranger 34 Online manual 4 Quick Behavior Arranger 27 Stimulus - Driven Excution Typ
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