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You could also check NAOKinematics library, that provides an exact analytic solution of the FK and IK of Nao, that also avoid singularities (according to the paper). This should be super fast.

Only issue: it currently only supports Nao H21 (ie, Robocup Edition): no support for wrists.

Paper: www.intelligence.tuc.gr/lib/downloadfile.php?id=440‎ Library: https://github.com/kouretes/NAOKinematics

You could also check NAOKinematics library, that provides an exact analytic solution of the FK and IK of Nao, that also avoid singularities (according to the paper). This should be super fast.

Only issue: it currently only supports Nao H21 (ie, Robocup Edition): no support for wrists.

Paper: www.intelligence.tuc.gr/lib/downloadfile.php?id=440‎ www.intelligence.tuc.gr/lib/downloadfile.php?id=440‎

Library: https://github.com/kouretes/NAOKinematics

You could also check NAOKinematics library, that provides an exact analytic solution of the FK and IK of Nao, that also avoid singularities (according to the paper). This should be super fast.

Only issue: it currently only supports Nao H21 (ie, Robocup Edition): no support for wrists.

Paper: www.intelligence.tuc.gr/lib/downloadfile.php?id=440‎http://www.intelligence.tuc.gr/lib/downloadfile.php?id=440‎

Library: https://github.com/kouretes/NAOKinematics