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README.md		README.md
fk_samples.json		fk_samples.json
forward_kinematics.py		forward_kinematics.py
forward_kinematics_2d.ipynb		forward_kinematics_2d.ipynb
inverse_kinematics.py		inverse_kinematics.py
inverse_kinematics_2d_autograd.ipynb		inverse_kinematics_2d_autograd.ipynb
inverse_kinematics_2d_jacobian.ipynb		inverse_kinematics_2d_jacobian.ipynb
inverse_kinematics_2d_jax.ipynb		inverse_kinematics_2d_jax.ipynb
inverse_kinematics_2d_optimization.ipynb		inverse_kinematics_2d_optimization.ipynb
inverse_kinematics_2d_sympy.ipynb		inverse_kinematics_2d_sympy.ipynb

README.md

4: Kinematics

This week you need to implement forward and inverse kinematics for NAO robot, and test in simulation. You may first take a look at 2D forward and inverse kinematics with ipython notebook, then complete the code in forward_kinematics.py and inverse_kinematics.py.

An analytical solution for NAO's leg is described in section 8.3.4 B-Human Team Report and Code Release 2017