Support Nao in MORSE

[severin-lemaignan]

The meta-issue tracks the progresses towards getting Nao nicely integrated in MORSE.

Several tasks listed here will benefit the whole MORSE ecosystem.

Tasks are listed by ~priority order.

• collect a complete URDF model of Nao, that includes physical properties
• complete the basic support for URDF import. Tracked in Support import of URDF models #547 -> import of Nao kinematic chains
• write initial unit-tests for Nao
  • stability when standing, crouching
  • non-stable posture (check the robot actually fall!)
  • ...?
• figure out how to apply physics properties to the joints/links (on the bones? on the meshes attached to the bones?)
• write advanced unit-tests
  • dynamic behaviour when moving limbs
  • walk!
• add sensors (cameras, sonars, bumpers...) (this should be the easy part)
• add support for the naoqi middleware

[nicolaje]

Any progress on that side?

Marco Cognetti (http://www.dis.uniroma1.it/~cognetti/) has integrated the NAO robot in the V-REP simulator, maybe it would be interesting to contact him?

[adegroote]

On 23/Jul - 09:40, Jeremy Nicola wrote:

Any progress on that side?

I don't think so. The issue is not really Nao model itself, but general
support of complex armature in Morse (see #382)

Marco Cognetti (http://www.dis.uniroma1.it/~cognetti/) has integrated the NAO robot in the V-REP simulator, maybe it would be interesting to contact him?

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