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Pepper Inverse/Forward Kinematics library

Project description



Originally, Pepper does not provide any inverse kinematics function. This provides simple inverse kinematics funciton.

Move work_pose first, then move 5 centimeters toward left (y axis positive side).

import time
import numpy as np
import naoqi as n
import pepper_kinematics as pk

host = 'nao.local'
port = 9559

m = n.ALProxy("ALMotion", host, port)
m.setAngles(pk.left_arm_tags, pk.left_arm_work_pose, 1.0)


current_angles = m.getAngles(pk.left_arm_tags)
current_position, current_orientation = pk.left_arm_get_position(current_angles)

target_position = current_position
target_position[1] = target_position[1] + 0.05 # 5 cm toward left
target_orientation = current_orientation # This is not supported yet

target_angles = p.left_arm_set_position(current_angles, target_position, target_orientation)
if target_angles:
m.setAngles(pk.left_arm_tags, target_angles, 1.0)

How to install
sudo pip install pepper_kinematics

* author: Yuki Suga
* copyright: Yuki Suga @
* license: GPLv3

Project details

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