Hi everyone, I have a PhantomX Reactor arm and I'm using it as a helping aid for people with cerebral palsy. The idea is to help them eat and move the different joysticks and buttons of a powered wheelchair. I've no problems with the eating system, I've been tinkering with Pypose using different poses and sequences, calling them through serial port using Processing GUI buttons.

But the problem comes from moving the wheelchair joystick. I've set poses to press the buttons but for the joystick I need a proportional movement and I need IK in a plane (with or without wrist rotation, I could solve it without it) and I've been trying NUKE, but I'm not very sure how to use it for this purpose.

I've seen also some people using ROS, but I need the ability to use poses and sequences generated by Pypose and calling them through serial (as well as the joystick movement) using a GUI and not just a direct controller like a mouse or joystick (having both systems would be great).

I could try to write my own IK code but I'm sure there is a way to use directly the incredible potential of the NUKE, Dynamixel and ArbotiX. Any help? Thank you very much