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Pepper (SoftBank Robotics): Set moveTo speed in Pepper robot via Python (no ROS)

I'm working on Pepper robot by SoftBank Robotics and I'm trying to write a Python script that dynamically manages the Pepper robot speed . I'm studying ALMotion and ALNavigation APIs, but I'm not able to find a solution.

Do you have some ideas?

Solution

  • ALMotion::move and ALMotion::moveToward contain velocity/speed as a normalized value from the interval <0; 1> (and <-1; 0> for the opposite direction).

    See e.g. the Come with me app to see examples how Pepper's hand joint angles are transformed to its movement speed.