@@ -39,9 +39,17 @@ We have to work the array where the trajectory was saved as numpy array `traj_ar
To save the trajectories we recorded we make use of the module numpy `np.savetxt('name_document', array, fmt='f')`
and recall the file using `np.loadtxt('name_document', dtype=float)`.
Use his arm has indication
For reachy to understand the relative position of its arm, we set a Cartesian plane with origin in its chest. The command forard_kinematics takes an important role in this process, because it turns the position of the joints into a set of coordinates, then, with help of NumPy arrays, the coordinates XYZ can be obtained.
Once we have the coordinates of the arm, we can fix some boundaries to trigger certain action according to the arm positioning.
Then, it's just a comparison loop that samples the position and take the decision.