search

TAMS-Group / bio_ik

MoveIt kinematics_base plugin based on particle optimization & GA
BSD 3-Clause "New" or "Revised" License
207 stars 81 forks source link

BIO_IK2 #18

Closed impet14 closed 5 years ago

impet14 commented 5 years ago

Hi everyone, Is this repository bio_ik2? Since I see there are bio_ik1 and 2.

Thank you!

v4hn commented 5 years ago

There is no bio_ik2. There have been name clashes in the past though.

There is BioIK, which refers to a proprietary Unity plugin - apparently there is a second version of this plugin by now which has nothing to do with this repository at all.

And there is bio_ik which refers to this MoveIt plugin, much more efficiently implementing various strategies to solve multi-goal inverse kinematics. The "bio1" mode of this plugin resembles the original methods of the unity plugin, but was demonstrated to be inferior in multiple aspects to other implemented methods, e.g., the default "bio2_memetic", or "gd_c" if you are interested in solutions with minimal displacement in null-space.

impet14 commented 4 years ago

thank you