merge

projects/appearances/webots.yaml

@@ -0,0 +1 @@
+publish: true

projects/devices/generic/webots.yaml

@@ -0,0 +1 @@
+publish: true

projects/robots/pal_robotics/tiago_base/webots.yaml

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+publish: true

projects/robots/pal_robotics/tiago_iron/webots.yaml

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+publish: true

projects/robots/softbank/nao/protos/Nao.proto

@@ -1,5 +1,7 @@
 #VRML_SIM R2023b utf8
-# documentation url: https://www.cyberbotics.com/doc/guide/nao
+# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
+# license url: https://cyberbotics.com/webots_assets_license
+# documentation url: https://webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/robots/softbank/nao/protos/Nao.proto
 # Generic model of Nao robot
 # Model designed by Cyberbotics Ltd. according to the online documentation provided by Aldebaran Robotics.
 # template language: javascript

projects/robots/softbank/nao/protos/docs/nao.md

@@ -0,0 +1,145 @@
+The Nao robot is a humanoid robot developed by [SoftBank Robotics](https://www.softbankrobotics.com/) (formerly known as Aldebaran Robotics).
+This section explains how to use Nao robot simulated in Webots.
+Currently, Webots supports the Nao V3.3, V4 and V5 versions, with and without their articulated fingers (respectively with 25 and 21 degrees of freedom) for the first two.
+
+### NAOqi and Choregraphe
+
+NAOqi and Choregraphe support is deprecated and not any more included in the standard Webots distribution.
+However, it is still available at the [naoqisim github repository](https://github.com/cyberbotics/naoqisim) on a as-is basis.
+It is not officially supported and is not maintained any more.
+This is due to some bugs in the simulator SDK that are not being fixed by SoftBank Robotics and cannot be fixed by Cyberbotics.
+
+### Movie Presentation
+
+![youtube video](https://www.youtube.com/watch?v=DDMky8PATKM)
+
+### Nao Models
+
+You can switch between the Nao model thanks to the following Nao PROTO fields:
+
+- The `version` field corresponds to the real Nao version.
+The supported versions are "V3.3", "V4" and "V5".
+The main difference between these models is the different calibration of the physics.
+The field of view of the cameras is slightly different too.
+Please refer directly to the "Nao.proto" PROTO file to see the complete difference.
+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.
+They are currently optimized for the version V5 of Nao in the default Nao worlds and may not perform as well with previous versions of Nao.
+- The `degreeOfFreedom` field corresponds to the degree of freedom of the real Nao.
+For versions V3.3 and V4 of Nao, the supported `degreeOfFreedom` values are 25 and 21.
+This corresponds to a model respectively with and without articulated fingers.
+We recommend to use articulated fingers only if necessary because of their big resource consumption.
+Version 5.0 does not exist without articulated fingers, so the only possible value is 25 in this case.
+
+### Nao PROTO
+
+Derived from [Robot](https://cyberbotics.com/doc/reference/robot).
+
+```
+Nao {
+  SFVec3f    translation           0 0 0.334
+  SFRotation rotation              0 0 1 0
+  SFString   name                  "NAO"
+  SFString   version               "V5 (red)"
+  SFInt32    degreeOfFreedom       25
+  MFColor    customColor           []
+  SFString   controller            "nao_demo"
+  MFString   controllerArgs        []
+  SFString   customData            ""
+  SFBool     supervisor            FALSE
+  SFBool     synchronization       TRUE
+  SFBool     selfCollision         FALSE
+  SFFloat    gpsAccuracy           0.0
+  SFInt32    cameraWidth           160
+  SFInt32    cameraHeight          120
+  SFNode     jersey                NULL
+  SFInt32    channel               0
+  SFString   contactMaterial       "NAO material"
+  SFString   footContactMaterial   "NAO foot material"
+  SFString   fingerContactMaterial "NAO finger material"
+  SFFloat    fingerRadius          0.0055
+  SFFloat    fingerTorque          10.0
+  MFNode     bodySlot              []
+  MFNode     headSlot              []
+  MFNode     leftFootSlot          []
+  MFNode     rightFootSlot         []
+  MFNode     leftHandSlot          []
+  MFNode     rightHandSlot         []
+}
+```
+
+#### Nao Field Summary
+
+- `version`: Defines the Nao version; either "V3.3", "V4 (orange)", "V4 (blue)", "V5 (red)", "V5 (blue)" or "V5 (grey)".
+
+- `degreeOfFreedom`: Defines the number of degrees of freedom; either "21" (fixed fingers) or "25" (articulated fingers).
+
+- `customColor`: If a color is defined in this field, it overrides the default secondary color of the robot.
+Either zero or one color is allowed in this field.
+
+- `gpsAccuracy`: Defines the `accuracy` field of the [GPS](https://cyberbotics.com/doc/reference/gps).
+
+- `cameraWidth`: Defines the `width` field of the [Camera](https://cyberbotics.com/doc/reference/camera).
+
+- `cameraHeight`: Defines the `height` field of the [Camera](https://cyberbotics.com/doc/reference/camera).
+
+- `jersey`: Extends the robot with a jersey: typically NaoJersey.proto.
+
+- `channel`: Defines the `channel` field of the [Emitter](https://cyberbotics.com/doc/reference/emitter) and [Receiver](https://cyberbotics.com/doc/reference/receiver).
+
+- `contactMaterial`: Defines the `contactMaterial` field of all the [Solid](https://cyberbotics.com/doc/reference/solid) nodes except the feet and the fingers ones.
+
+- `footContactMaterial`: Defines the `contactMaterial` field of the foot [Solid](https://cyberbotics.com/doc/reference/solid) nodes.
+
+- `fingerContactMaterial`: Defines the `contactMaterial` field of the finger [Solid](https://cyberbotics.com/doc/reference/solid) nodes.
+
+- `fingerRadius`: Defines the radius of all the fingers.
+
+- `fingerTorque`: Defines the torque applied on the finger motors.
+
+- `bodySlot`: Extends the robot with new nodes in the body slot.
+
+- `headSlot`: Extends the robot with new nodes in the head slot.
+
+- `leftFootSlot`: Extends the robot with new nodes in the left foot slot.
+
+- `rightFootSlot`: Extends the robot with new nodes in the right foot slot.
+
+- `leftHandSlot`: Extends the robot with new nodes in the left hand slot.
+
+- `rightHandSlot`: Extends the robot with new nodes in the righthand slot.
+
+### Samples
+
+The Webots installation includes several world files with Nao robots.
+You will find some in this folder: "WEBOTS\_HOME/projects/robots/softbank/nao/worlds".
+
+#### nao\_demo.wbt
+
+![nao_demo.wbt.png](images/nao/nao_demo.wbt.thumbnail.jpg) The "nao\_demo.wbt" world is a demonstration of a very simple C controller that run motions on a Nao robot when keys are pressed on the keyboard.
+
+#### nao\_matlab.wbt
+
+![nao_demo.wbt.png](images/nao/nao_demo.wbt.thumbnail.jpg) The "nao\_matlab.wbt" world is an example of programming Webots using the MATLAB API.
+
+#### nao\_indoors.wbt
+
+![nao_indoors.wbt.png](images/nao/nao_indoors.wbt.thumbnail.jpg) The "nao\_indoors.wbt" world features a Nao robot in an apartment containing typical objects found in a living room.
+
+#### nao\_robocup.wbt
+
+![nao_robocup.wbt.png](images/nao/nao_robocup.wbt.thumbnail.jpg) The "nao\_robocup.wbt" world features a Nao robot on a soccer field ready to shoot the ball in the goal.
+
+#### challenge.wbt
+
+![nao_challenge.wbt.png](images/nao/nao_challenge.wbt.thumbnail.jpg) The "challenge.wbt" world contains the scenario of the Nao Challenge contest 2013-2014 edition by Aldebaran Robotics.
+The robot has to grab a key in a door and drop it into a key pot.
+
+#### get\_the\_candies.wbt
+
+![nao_get_the_candies.wbt.png](images/nao/nao_get_the_candies.wbt.thumbnail.jpg) The "get\_the\_candies.wbt" world contains one of the scenarios of the Nao Challenge contest 2014-2015 edition by Aldebaran Robotics.
+The robot has to carry candies from a shelf to a cart.
+
+#### robotstadium\_nao\_vs\_robotis-op2.wbt
+
+![nao_vs_robotis-op2.wbt.png](images/nao/nao_vs_robotis-op2.wbt.thumbnail.jpg) The "robotstadium\_nao\_vs\_robotis-op2.wbt" world contains a robot soccer game scenario based on the Standard Platform League (SPL) rules of the RoboCup.
+It opposes 5 Nao robots to 5 ROBOTIS OP2 robots.

projects/robots/softbank/nao/webots.yaml

@@ -0,0 +1 @@
+publish: true

resources/web/wwi/FloatingProtoParameterWindow.js

@@ -691,10 +691,8 @@ export default class FloatingProtoParameterWindow extends FloatingWindow {
     currentNodeButton.title = 'Select a node to insert';
     currentNodeButton.innerText = value.name;
     currentNodeButton.onclick = async() => {
-      if (typeof this.nodeSelector === 'undefined') {
+      if (typeof this.nodeSelector === 'undefined')
         this.nodeSelector = new NodeSelectorWindow(this.parentNode, this.#protoManager.proto);
-        await this.nodeSelector.initialize();
-      }
 
       this.nodeSelector.show(parameter, p, this.#MFNodeOnChange.bind(this), parent, mfId, resetButton);
       this.nodeSelectorListener = (event) => this.#hideNodeSelector(event);
@@ -857,10 +855,8 @@ export default class FloatingProtoParameterWindow extends FloatingWindow {
     const addRow = document.createElement('button');
     addRow.onclick = async() => {
       if (parameter.type === VRML.MFNode) {
-        if (typeof this.nodeSelector === 'undefined') {
+        if (typeof this.nodeSelector === 'undefined')
           this.nodeSelector = new NodeSelectorWindow(this.parentNode, this.#protoManager.proto);
-          await this.nodeSelector.initialize();
-        }
 
         this.nodeSelector.show(parameter, addRow, this.#MFNodeOnInsertion.bind(this), parent, mfId, resetButton);
         this.nodeSelectorListener = (event) => this.#hideNodeSelector(event);
@@ -1143,10 +1139,8 @@ export default class FloatingProtoParameterWindow extends FloatingWindow {
     currentNodeButton.id = 'current-node-' + parameter.name;
     currentNodeButton.title = 'Select a node to insert';
     currentNodeButton.onclick = async() => {
-      if (typeof this.nodeSelector === 'undefined') {
+      if (typeof this.nodeSelector === 'undefined')
         this.nodeSelector = new NodeSelectorWindow(this.parentNode, this.#protoManager.proto);
-        await this.nodeSelector.initialize();
-      }
 
       this.nodeSelector.show(parameter, p, this.#sfnodeOnChange.bind(this));
       this.nodeSelectorListener = (event) => this.#hideNodeSelector(event);