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robust invese kinematics #286

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robust invese kinematics #286

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2d7c2bc
robust invese kinematics
askuric Oct 14, 2025
f822980
remove elapsed time dumping
askuric Oct 16, 2025
47a1086
bump the version of the rust_kinematics
askuric Oct 22, 2025
3f72098
ci launch
askuric Oct 22, 2025
723652d
update for mypy
askuric Oct 22, 2025
617f8cd
ignore arg type
askuric Oct 22, 2025
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2 changes: 1 addition & 1 deletion pyproject.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ dependencies = [
"huggingface-hub==0.34.4",
"sounddevice==0.5.1",
"soundfile==0.13.1",
"reachy-mini-rust-kinematics>=1.0.1",
"reachy-mini-rust-kinematics>=1.0.2",
"asgiref",
"aiohttp",
]
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15 changes: 11 additions & 4 deletions src/reachy_mini/kinematics/analytical_kinematics.py
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Expand Up @@ -67,10 +67,17 @@ def ik(
"""
_pose = pose.copy()
_pose[:3, 3][2] += self.head_z_offset

stewart_joints = self.kin.inverse_kinematics(_pose, body_yaw) # type: ignore[arg-type]

return np.array([body_yaw] + stewart_joints)

# inverse kinematics solution that modulates the body yaw to
# stay within the mechanical limits (max_body_yaw)
# additionally it makes sure the the relative yaw between the body and the head
# stays within the mechanical limits (max_relative_yaw)
reachy_joints = self.kin.inverse_kinematics_safe(_pose, # type: ignore[arg-type]
body_yaw = body_yaw,
max_relative_yaw = np.deg2rad(65),
max_body_yaw = np.deg2rad(160))

return np.array(reachy_joints)

def fk(
self,
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