  We present an open-source software interface, called mc_naoqi, that allows to
perform whole-body task-space Quadratic Programming based control, implemented
in mc_rtc framework, on the SoftBank Robotics Europe humanoid robots. We
describe the control interface, associated robot description packages, robot
modules and sample whole-body controllers. We demonstrate the use of these
tools in simulation for a robot interacting with a human model. Finally, we
showcase and discuss the use of the developed open-source tools for running the
human-robot close contact interaction experiments with real human subjects
inspired from assistance scenarios.
