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### Is your feature request related to a problem? Please describe.
The current system for full body IK for avatars is a heavily modified port of FinalIK. As such, this system has a number of issues:
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Ik kan het niet laten om:
https://github.com/MartijnSlot/dominoeffect/blob/500193d319cca28ff34b590d8257e40969d6c428/src/Solver.java#L33
te vergelijken met:
https://github.com/erikhuizinga/dom…
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What do you suppose it would take to adapt the constraint_ik to dual arm capabilities, with overlapping toros joints? I have past experience with this kind of project but am not sure if there are any …
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Hi, I recently experimented with some inverse kinematics solvers other than KDL/PickIK/BioIK and stumbled upon [RelaxedIK](https://github.com/uwgraphics/relaxed_ik_core/) and its derivatives. Because …
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Hi,
I am able to plan an orientation constraint for my end-effector, being parallel to the ground. However, occasionally the path planned results in the end-effector to randomly flip. Is there a me…
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### Description
Setting limits for the joints for the CCD IK solver configuration does not seem to have effect.
The first link seems the one affected.
### Reproduction steps
1.Set the limi…
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So I've taken a certain DNSIM script (below) and I find that when I run the script a couple times, one of the simulations is incorrectly saved under a DIFFERENT, wrong simulation output plot file. The…
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Implementing the new ABB CRB15000. This requires a modification in the kinematics engine to account for the offset on axis 5.
Test implementation with custom robot:
[CRB15000.zip](https://github.com…
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Hi Sven,
I have just received a youbot for the lab. I had seen on [1](http://www.youbot-store.com/developers/software/ros/youbot-inverse-kinematics) a 'simple_ik_solver.py' file to run. I can not f…
cadop updated
8 years ago
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The [trak_ik](https://personal.traclabs.com/~pbeeson/papers/Beeson-humanoids-15.pdf) paper states that "Some simple enhancements can be made to KDL’s pseudoinverse Jacobian solver that increase its pe…