{"repo":"gkjohnson/closed-chain-ik-js","free":true,"listed":false,"github":"https://github.com/gkjohnson/closed-chain-ik-js","clone":"git clone https://github.com/gkjohnson/closed-chain-ik-js.git","description":"A generalized inverse kinematics solver that supports closed chains for parallel kinematics systems, dynamic reconfiguration, and arbitrary joint configuration based on damped least squares error minimization techniques","language":"JavaScript","stars":293,"topics":["inverse-kinematics","javascript","threejs","graphics","robotics","least-squares","joints","parallel","animation","control"],"license":"Apache-2.0","category":"game-templates","readme_excerpt":"Closed Chain Inverse Kinematics A generalized inverse kinematics solver that supports closed chains for parallel kinematics systems, dynamic reconfiguration, and arbitrary joint configuration based on damped least squares error minimization techniques. Supports all variety of joints including combinations of rotation and translation degrees of freedom and is agnostic to visualization framework. Inspired by Marty Vona's MSim research work and using techniques outlined in this 2009 paper by Samuel Buss. Developed with some aid and advice from Marty Vona. Solver being used on JPL's ATHLETE robot for full body IK Examples Hexapod demo ATHLETE and Robonaut demo Rover mobility settling demo VR demo Partial degrees of freedom Goal demo Model License Information Robitics models used in the project are for demonstration purposes only and subject to the licenses of their respective projects. ATHLETE Robonaut Curiosity Perseverance Staubli PI Hexapod Digit Spot Installation Use Simple 2 DoF System Using a WebWorker Solver Caveats - The web worker implementation uses ShareArrayBuffers which are not available on some platforms (Safari, Chrome for Android). See issue #44. - Enabling SVD on the Solver can cause divergence on solvable systems and stutter. See #76. API Constants DOF Enumerated fields representing different degrees of freedom for Joints. DOF NAMES An array of strings representing the names of the above degrees of freedom. SOLVE STATUS Enumerated fields representing the state o","default_branch":null,"files":null,"tree":[],"storefront":"/r/gkjohnson","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/gkjohnson/closed-chain-ik-js/request-supported","requests":0},"note":"indexed from public GitHub; nothing is for sale on this page. Clone it from GitHub. Paid listings live at /search."}