├── .gitignore ├── README.md ├── demo.gif ├── ik_sover.py ├── requirement.txt └── src ├── __init__.py ├── ik ├── __init__.py ├── fabrik.py ├── ik_chain.py ├── ik_sovler.py ├── jacobian_ik.py └── utils.py └── visible ├── __init__.py ├── temp.py └── visible.py /.gitignore: -------------------------------------------------------------------------------- 1 | __pycache__ 2 | .idea -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CHDQ/ik_solve/HEAD/README.md -------------------------------------------------------------------------------- /demo.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CHDQ/ik_solve/HEAD/demo.gif -------------------------------------------------------------------------------- /ik_sover.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CHDQ/ik_solve/HEAD/ik_sover.py -------------------------------------------------------------------------------- /requirement.txt: -------------------------------------------------------------------------------- 1 | numpy 2 | pyvista==0.27.4 3 | transformations==2020.1.1 4 | pytorch 5 | -------------------------------------------------------------------------------- /src/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/ik/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/ik/fabrik.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CHDQ/ik_solve/HEAD/src/ik/fabrik.py -------------------------------------------------------------------------------- /src/ik/ik_chain.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CHDQ/ik_solve/HEAD/src/ik/ik_chain.py -------------------------------------------------------------------------------- /src/ik/ik_sovler.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CHDQ/ik_solve/HEAD/src/ik/ik_sovler.py -------------------------------------------------------------------------------- /src/ik/jacobian_ik.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CHDQ/ik_solve/HEAD/src/ik/jacobian_ik.py -------------------------------------------------------------------------------- /src/ik/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CHDQ/ik_solve/HEAD/src/ik/utils.py -------------------------------------------------------------------------------- /src/visible/__init__.py: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /src/visible/temp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CHDQ/ik_solve/HEAD/src/visible/temp.py -------------------------------------------------------------------------------- /src/visible/visible.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CHDQ/ik_solve/HEAD/src/visible/visible.py --------------------------------------------------------------------------------