add 6D Actuator, IK and FK Solvers (specify rotation and orientation of end-effector) #25
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
First off, thanks for this library -- it is my favorite IK library that I have tried so far and more robust in some ways as well.
@lanius per your comment here #17 (comment) I learned tinyik does not support specifying the rotation and orientation of the end-effector.
I believe this PR closes that gap, and using this modified version of tinyik (and some other software) I was able to create this animation with a constrained end effector rotation and position:
Code_6FhTqF1RAG.mp4
I have not yet added tests as I would like some feedback on the approach I have taken with creating new classes for this new use-case. I used the black formatter on the files I edited, so there are some unrelated formatting changes that I can revert if necessary.