How to get angle velocity

aldebaran / libqi

NAOqi core framework

http://doc.aldebaran.com/libqi/

BSD 3-Clause "New" or "Revised" License

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How to get angle velocity #32

Closed 0aqz0 closed 3 years ago

0aqz0 commented 3 years ago

Joint control APIs described in docs only allow us to get the current joint angles. How can I access the angle velocities? Thank you very much if you can provide any suggestions.

sbarthelemy commented 3 years ago

Hello,

NAO and Pepper joints don't have speed sensors, and there is no API exposing the speed on recent version of NAOqi (>=2.8.5 and >=2.9). You can compute it with numeric differentiation.

On older versions of NAOqi, the speed (computed by differentiation) was published on ALMemory keys named like Motion/Velocity/Sensor/HeadPitch.