Hello! Thank you! The visualization is done in Unity. We built the system on the ros2 framework, using inverse kinematics written in python/scipy to calculate joint angles for the robot, to make it follow the Valve Index tracker data. To interface with the robot we use Naoqi setJointAngles() wrapped in a ros2 node.

@@ErikOrjehagHi there, i'm also triyng to accomplish this, can i ask you the software architecture you used in a bit more detailed way?did you take the valve index input from unity(which is in C#) and connected how to ros2(in which you said you used python)?did you perhaps also use Gazebo for simulating the robot during the development?thanks in advance

@@memeproductions4182 For development we ran a virtualized naoqi nao robot in a docker container (similar to the virtual nao robot i choripgraph). Yes the vive tracker positions are fetched in a C# script im Unity like you said. The positions are sent over ros2 messages from Unity to a python script. This communication over ros2 from Unity is possible thanks to our own open source project UnityRos2 (you can find it on github). When the joint angles for the robot have been calculated they are sent to the robot using naoqi. The feedback from the joints are sent to unity and visualized in 3D model of robot in Unity. Communications between different parts of the system is always done using ros2 messages. May I ask in what context you are trying this? A university project or something comercial? We do sell this complete solution on our website, mostly to event organizers and performers/artists.

@@ErikOrjehag thank you so much for the answer! It is for a university project!

@@ErikOrjehag an other question, did you implement your own inverse kinematic algorithm or did you let nao qi handle it (like for example using the function setPositions and simply giving it the position and rotations of the vive trackers). Again, thanks in advance :)