NicoIK

Inverse kinematics for Nico robot. Win/Linux friendly.

Instalation

You need just numpy and pybullet

pip install pybullet

If you want to work with real robot, you need o install NicoMotion

python setup.py

If you do not have real robot, you can comment lines 6 and 7 in ik_solver.py

Basic test

python ik_solver.py

It has to output 7 joint angles in radians in repetitive manner

Visualization

python ik_solver.py -g

There is robot randomly calculating IK for finger on the line

Left/right hand switch

python ik_solver.py -g -l

The IK solver switch to left hand

Custom position

python ik_solver.py -g -p 0.4 -0.3 0.3

It will repeatedly calculate IK for this position and output joint angles to terminal

Reset to initial position

python ik_solver.py -g -i

It will reset robot to initial position defined in line 166 after each calculation

Animate motion

python ik_solver.py -g -a

It will show the trajectory of motion in simulator

Real robot

python ik_solver.py -g -rr

It will initialize robot to default position and then execute the motion from IK

Custom movements

If you want to put custom trajectory or other methods (from x,y,z to joint angles) write it to the target method instead of random generator