{ "info": { "author": "ysuga", "author_email": "ysuga@ysuga.net", "bugtrack_url": null, "classifiers": [ "Development Status :: 5 - Production/Stable", "Environment :: Console", "Intended Audience :: Developers", "License :: OSI Approved :: GNU General Public License v3 (GPLv3)", "Natural Language :: English", "Operating System :: OS Independent", "Programming Language :: Python", "Topic :: Scientific/Engineering" ], "description": "pepper_kinematics\n=====================\n\nDescription \n---------------------\n\nOriginally, Pepper does not provide any inverse kinematics function. This provides simple inverse kinematics funciton.\n\nExample\n---------------------\n \"\"\"\n Move work_pose first, then move 5 centimeters toward left (y axis positive side).\n \"\"\"\n \n import time\n import numpy as np\n import naoqi as n\n import pepper_kinematics as pk\n \n host = 'nao.local'\n port = 9559\n \n m = n.ALProxy(\"ALMotion\", host, port)\n m.setAngles(pk.left_arm_tags, pk.left_arm_work_pose, 1.0)\n \n time.sleep(1.0)\n \n current_angles = m.getAngles(pk.left_arm_tags)\n current_position, current_orientation = pk.left_arm_get_position(current_angles)\n \n target_position = current_position\n target_position[1] = target_position[1] + 0.05 # 5 cm toward left\n target_orientation = current_orientation # This is not supported yet\n \n target_angles = p.left_arm_set_position(current_angles, target_position, target_orientation)\n if target_angles:\n m.setAngles(pk.left_arm_tags, target_angles, 1.0)\n\n\nHow to install\n---------------------\n sudo pip install pepper_kinematics\n\nCopyright\n---------------------\n* author: Yuki Suga\n* copyright: Yuki Suga @ ssr.tokyo\n* license: GPLv3\n\n", "description_content_type": null, "docs_url": "https://pythonhosted.org/pepper_kinematics/", "download_url": "https://github.com/sugarsweetrobotics/python_pepper_kinematics", "downloads": { "last_day": -1, "last_month": -1, "last_week": -1 }, "home_page": "http://www.sugarsweetrobotics.com/", "keywords": null, "license": "GPLv3", "maintainer": null, "maintainer_email": null, "name": "pepper_kinematics", "package_url": "https://pypi.org/project/pepper_kinematics/", "platform": "UNKNOWN", "project_url": "https://pypi.org/project/pepper_kinematics/", "project_urls": { "Download": "https://github.com/sugarsweetrobotics/python_pepper_kinematics", "Homepage": "http://www.sugarsweetrobotics.com/" }, "release_url": "https://pypi.org/project/pepper_kinematics/0.0.6/", "requires_dist": null, "requires_python": null, "summary": "Pepper Inverse/Forward Kinematics library", "version": "0.0.6" }, "last_serial": 1789414, "releases": { "0.0.1": [ { "comment_text": "", "digests": { "md5": "2c456188d1cac2f389ed7e42678a56a7", "sha256": "36bf1c5d3293c64648b5aaf957c941f00294a908ef662933d19991a9ccaa1413" }, "downloads": -1, "filename": "pepper_kinematics-0.0.1.tar.gz", "has_sig": false, "md5_digest": "2c456188d1cac2f389ed7e42678a56a7", "packagetype": "sdist", "python_version": "source", "requires_python": null, "size": 1172, "upload_time": "2015-10-27T07:39:44", "url": "https://files.pythonhosted.org/packages/14/11/1007db60cfd63b866cd766f854c035ccc1b8b3d0d365d2f53dd80c2a1b15/pepper_kinematics-0.0.1.tar.gz" } ], "0.0.2": [ { "comment_text": "", "digests": { "md5": "cdec7dd3b43fabbd6ccc8055cb39477b", "sha256": "58827a3486d96f1ed18f879f42d343f7c630faea54d2cc89fea9f9d5bc538967" }, "downloads": -1, "filename": "pepper_kinematics-0.0.2.tar.gz", "has_sig": false, "md5_digest": "cdec7dd3b43fabbd6ccc8055cb39477b", "packagetype": "sdist", "python_version": "source", "requires_python": null, "size": 1172, "upload_time": "2015-10-27T13:40:56", "url": "https://files.pythonhosted.org/packages/8d/a2/c827565f4e67a322fd72903df69284f096434cc38f43ee3fcac895470b53/pepper_kinematics-0.0.2.tar.gz" } ], "0.0.3": [], "0.0.4": [ { "comment_text": "", "digests": { "md5": "dbe050d5f57d5c794906c3fbc200451c", "sha256": "e34c1deb0db6b869beb19bea4e38808e093319558a605cc3f89ffac55be1b87a" }, "downloads": -1, "filename": "pepper_kinematics-0.0.4.tar.gz", "has_sig": false, "md5_digest": "dbe050d5f57d5c794906c3fbc200451c", "packagetype": "sdist", "python_version": "source", "requires_python": null, "size": 1197, "upload_time": "2015-10-27T13:57:34", "url": "https://files.pythonhosted.org/packages/8f/4a/51bbefb49975c8fa0bfc96e84c49a48a77ccc3be17046ce3b230da6105b5/pepper_kinematics-0.0.4.tar.gz" } ], "0.0.5": [ { "comment_text": "", "digests": { "md5": "17210a18f1359de2c9c96bb0f8e2af9e", "sha256": "c6b644e768aff8a260bb1d766c0bb15173cb4ac3f352af4e1190a300d618981b" }, "downloads": -1, "filename": "pepper_kinematics-0.0.5.tar.gz", "has_sig": false, "md5_digest": "17210a18f1359de2c9c96bb0f8e2af9e", "packagetype": "sdist", "python_version": "source", "requires_python": null, "size": 1675, "upload_time": "2015-10-27T23:59:04", "url": "https://files.pythonhosted.org/packages/f6/3b/2d93e03ccc6af7b97d40593d46a7c016cc1fe5bf54cc527c508696413681/pepper_kinematics-0.0.5.tar.gz" } ], "0.0.6": [ { "comment_text": "", "digests": { "md5": "e49bc98f15bfb445c86f3bd48a32ef14", "sha256": "0256bacd616dd670b4ca0bdb4ceb382eb14d8e877a25c32865b459bb5971f2e6" }, "downloads": -1, "filename": "pepper_kinematics-0.0.6.tar.gz", "has_sig": false, "md5_digest": "e49bc98f15bfb445c86f3bd48a32ef14", "packagetype": "sdist", "python_version": "source", "requires_python": null, "size": 3632, "upload_time": "2015-10-28T01:16:43", "url": "https://files.pythonhosted.org/packages/48/16/0635c2d2bcbb9d52595d7f2c6984babc62169695888eab5b503ec561fca7/pepper_kinematics-0.0.6.tar.gz" } ] }, "urls": [ { "comment_text": "", "digests": { "md5": "e49bc98f15bfb445c86f3bd48a32ef14", "sha256": "0256bacd616dd670b4ca0bdb4ceb382eb14d8e877a25c32865b459bb5971f2e6" }, "downloads": -1, "filename": "pepper_kinematics-0.0.6.tar.gz", "has_sig": false, "md5_digest": "e49bc98f15bfb445c86f3bd48a32ef14", "packagetype": "sdist", "python_version": "source", "requires_python": null, "size": 3632, "upload_time": "2015-10-28T01:16:43", "url": "https://files.pythonhosted.org/packages/48/16/0635c2d2bcbb9d52595d7f2c6984babc62169695888eab5b503ec561fca7/pepper_kinematics-0.0.6.tar.gz" } ] }