#Webots nao joint names how to
#Webots nao joint names simulator

GpsAccuracy: Defines the accuracy field of the GPS.ĬameraWidth: Defines the width field of the Camera.ĬameraHeight: Defines the height field of the Camera. Version: Defines the Nao version either '3.3','4.0' or '5.0'.ĭegreeOfFreedom: Defines the number of degrees of freedom either '21' (fixed fingers) or '25' (articulated fingers).Ĭolor: Defines the diffuseColor field of the secondary Material. SFString fingerContactMaterial 'NAO finger material'įile location: 'WEBOTS_HOME/projects/robots/softbank/nao/protos/Nao.proto' Nao Field Summary SFString footContactMaterial 'NAO foot material' Version 5.0 does not exist without articulated fingers, so the only possible value is 25 in this case. We recommend to use articulated fingers only if necessary because of their big resource consumption. This corresponds to a model respectively with and without articulated fingers.

The degreeOfFreedom field corresponds to the degree of freedom of the real Nao.įor versions 3.3 and 4.0 of Nao, the supported degreeOfFreedom values are 25 and 21.

They are currently optimized for the version 5.0 of Nao in the default Nao worlds and may not perform as well with previous versions of Nao. Note that each version has a different weight repartition in their bodies, the best contact properties in the simulated world aren't always the same. Please refer directly to the 'Nao.proto' PROTO file to see the complete difference. The field of view of the cameras is slightly different too. The main difference between these models is the different calibration of the physics.

The version field corresponds to the real Nao version.You can switch between the Nao model thanks to the following Nao PROTO fields:

#Webots nao joint names simulator

This is due to some bugs in the simulator SDK that are not being fixed by SoftBank Robotics and cannot be fixed by Cyberbotics. It is not officially supported and is not maintained any more. However, it is still available at the naoqisim github repository on a as-is basis. NAOqi and Choregraphe support is deprecated and not any more included in the standard Webots distribution.

#Webots nao joint names how to

This section explains how to use Nao robot simulated in Webots.Ĭurrently, Webots supports the Nao v3.3, v4.0 and v5.0 versions, with and without their articulated fingers (respectively with 25 and 21 degrees of freedom) for the first two. The Nao robot is a humanoid robot developed by SoftBank Robotics (formerly known as Aldebaran Robotics).