AIUT3D motion editor for 3D soccer simulation compatible with SimSpark physics engine

In RoboCup competitions, Nao is used in 3D soccer simulation league. To be the best in this league, the most important behaviors required are walking, kicking and getting up. Having a tool to design these behaviors appropriately, is essential. Motion editors may be used to design these behaviors. In this paper, AIUT3D motion editor is presented capable of designing arbitrary motions for different types of Nao robots. To the best of our knowledge this is the first motion editor that is connected to the ODE physics engine used by SimSpark in real-time. The motion editor can accelerate development of different skills such as long range kick and goalie dive. Using motion editor, our team AIUT3D could achieve 3rd place in IranOpen2017, 5th place in total ranking and 3rd place in technical challenges of RoboCup 2017. AIUT3D gained all of these achievements in its first appearance in these competitions.