inverse-kinematics

There are 39 repositories under inverse-kinematics topic.

Jeff-sjtu / HybrIK
Official code of "HybrIK: A Hybrid Analytical-Neural Inverse Kinematics Solution for 3D Human Pose and Shape Estimation", CVPR 2021
3d-pose-estimation cvpr cvpr21 inverse-kinematics pose-estimation pytorch smpl
Language:Python 1115
rex-gym
nicrusso7 / rex-gym
OpenAI Gym environments for an open-source quadruped robot (SpotMicro)
openai-gym openai-gym-environments robotics tensorflow python3 pybullet reinforcement-learning reinforcement-learning-algorithms artificial-intelligence gym-environment robot spotmicro quadruped openai inverse-kinematics quadruped-robot-gaits quadruped-robot legged-robots machine-learning robotic-arm
Language:Python 962
hexapod-robot-simulator
mithi / hexapod-robot-simulator
A hexapod robot simulator built from first principles
dash hacktoberfest hexapod inverse-kinematics kinematics plotly plotly-dash plotly-example plotly-python robot robotics simulator
Language:Python 749
jeremyong / klein
P(R*_{3, 0, 1}) specialized SIMD Geometric Algebra Library
3d 3d-graphics algebra animation dual-quaternions geometric-algebra inverse-kinematics pga projective-geometry quaternion-algebra quaternions simd sse
Language:C++ 730
ikpy
Phylliade / ikpy
An Inverse Kinematics library aiming performance and modularity
inverse-kinematics urdf robotics poppy python
Language:Python 666
hexapod
mithi / hexapod
Blazing fast hexapod robot simulator for the web.
forward-kinematics hacktoberfest hexapod inverse-kinematics javascript kinematics kinematics-model kinematics-modelling plotly react reactjs robot robotics simulation simulator visualizers
Language:JavaScript 555
rbdl / rbdl
RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.
articulated-body-algorithm inverse-dynamics forward-dynamics multi-body-dynamics inverse-kinematics robotics
Language:C++ 500
TheComet / ik
Minimal Inverse Kinematics library
inverse-kinematics solver animation inverse-kinematics-library wiki-page calculations python-bindings algorithm-library ik 3d end-effector rotations rotation
Language:C 486
jsantell / THREE.IK
inverse kinematics for three.js
inverse-kinematics ik threejs
Language:JavaScript 438
openrr / urdf-viz
visualize URDF/XACRO file, URDF Viewer works on Windows/MacOS/Linux
urdf robotics visualization ros rust inverse-kinematics assimp xacro rust-lang
Language:Rust 369
sketchpunklabs / ossos
Webbased Character Animation System
animation inverse-kinematics ikrig animator armature skeleton metaverse typescipt webgl webgpu webxr
Language:TypeScript 356
Skylark0924 / Rofunc
🤖 The Full Process Python Package for Robot Learning from Demonstration and Robot Manipulation
optitrack robotics xsens planning-algorithms imitation-learning learning-from-demonstration robot isaac-gym humanoid-robots emg reinforcement-learning-algorithms robot-manipulation forward-kinematics inverse-kinematics manipulability gpt humanoid robot-control robot-planning robot-large-model
Language:Python 329
glumb / robot-gui
A three.js based 3D robot interface.
3d es6 gui interface inverse-kinematics javascript redux robot robotics threejs
Language:JavaScript 326
pybotics
engnadeau / pybotics
The Python Toolbox for Robotics
robotics robot math mathematics kinematics inverse-kinematics numpy scipy python-toolbox python pypi research calibration dynamics trajectory impedance-control doi hacktoberfest
Language:Python 319
Sopiro / Unity-Procedural-Animation
Procedural animation example in Unity
unity procedural-animation inverse-kinematics animation
Language:C# 317
YashBansod / Robotics-Planning-Dynamics-and-Control
RPDC : This contains all my MATLAB codes for the Robotics, Planning, Dynamics and Control . The implementations model various kinds of manipulators and mobile robots for position control, trajectory planning and path planning problems.
robotics dynamics control matlab simulink path-planning forward-kinematics inverse-kinematics jacobian kinematics planning
Language:MATLAB 309
jhavl / dkt
A Tutorial on Manipulator Differential Kinematics
hessian inverse-kinematics jacobian kinematics manipulation python robot-manipulation robot-manipulator robotics robotics-control robotics-simulation
Language:Jupyter Notebook 254
Unity-Procedural-IK-Wall-Walking-Spider
PhilS94 / Unity-Procedural-IK-Wall-Walking-Spider
A Unity Engine Project in which a controllable wall-walking spider uses inverse kinematics (IK) to position its legs to its surroundings, such that it moves realistically.
spider procedural ik inverse-kinematics unity unity-engine animation
Language:C# 225
adityadua24 / robopy
Robopy is a python port for Robotics Toolbox in Matlab created by Peter Corke
graphical-models inverse-kinematics kinematics python robotics robotics-toolbox transformations vtk
Language:Python 216
andyzeng / ikfastpy
Python wrapper over OpenRave's IKFast inverse kinematics solver for a UR5 robot arm.
robotics motion-planning inverse-kinematics forward-kinematics trajectory-optimization universal-robots artificial-intelligence openrave ikfast
Language:C++ 205
pymanoid
stephane-caron / pymanoid
Humanoid robotics prototyping environment based on OpenRAVE
robotics python openrave humanoid-robot inverse-kinematics model-predictive-control locomotion
Language:Python 205
TAMS-Group / bio_ik
MoveIt kinematics_base plugin based on particle optimization & GA
bio-ik ik-solver optimization inverse-kinematics moveit ros genetic-algorithm evolutionary-algorithm particle-swarm-optimization non-convex-optimization convex-optimization robot-control robot-motion-planning artificial-intelligence robotics
Language:C++ 193
ashleve / ActiveRagdoll
From-scratch implementation of physically simulated character animation with proportional-integral-derivative controllers (PID)
unity humanoid-characters ragdoll active-ragdoll physics simulation pid inverse-kinematics inverse-dynamics animation controller character simple force
Language:C# 173
closed-chain-ik-js
gkjohnson / closed-chain-ik-js
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
inverse-kinematics javascript threejs graphics robotics least-squares joints parallel animation control robots urdf ik three
Language:JavaScript 161
NoteCAD / NoteCAD
Unity3d CAD system with C# Geometric Constraint Solver
cad constraint-solver drafting geometric-constraint-solver inverse-kinematics line line-renderer
Language:C# 159
RxLaboratory / Duik-15
Duduf IK & Animation Tools for Adobe After Effects
adobe after-effects animation character duduf-ik inverse-kinematics kinematics rig rigging setup
Language:JavaScript 157
dabeschte / VRArmIK
Unity Inverse Kinematics solution for arms in VR
vr arms animation inverse-kinematics virtual-reality unity unity3d
Language:C# 153
ahundt / grl
Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.
atracsys c-plus-plus calibration computer-vision constrained-optimization control driver grl hand-eye-calibration iiwa inverse-kinematics kuka kuka-lbr-iiwa optimization real-time robot robotics ros vrep vrep-plugin
Language:C++ 152
kevinzakka / mjctrl
Minimal, clean, single-file implementations of common robotics controllers in MuJoCo.
franka-emika inverse-kinematics kuka-lbr-iiwa mujoco operational-space-control ur5e
Language:Python 152
Sarrasor / RoboticManipulators
Calculation of forward and inverse kinematics, Jacobian matrices, dynamic modeling, trajectory planning and geometric calibration for robotic manipulators
jacobian robotics inverse-kinematics forward-kinematics manipulator-robotics trajectory-generation trapezoidal-speed-profile robotic-manipulators jacobian-calculation trajectory-planning euler-lagrange-dynamics newton-euler robot-calibration calibration
Language:Python 144
pink
stephane-caron / pink
Python inverse kinematics based on Pinocchio
python inverse-kinematics pinocchio robotics kinematics urdf
Language:Python 136
neka-nat / kinpy
Simple kinematics calculation toolkit for robotics
robotics kinematics forward-kinematics urdf mujoco robot python manipulator inverse-kinematics sdf
Language:Python 128
AliShug / EvoArm
An open-source 3D-printable robotic arm
robotics inventor python pygame 3d-printing robot design robot-arm arduino inverse-kinematics arm servo dynamixel-motors hardware dynamixel
Language:Python 127
stephengold / Minie
Integrate Bullet Physics and V-HACD into jMonkeyEngine projects. (code has New BSD license)
jmonkeyengine3 jme3 animation inverse-kinematics bullet-physics ragdoll physics-3d soft-bodies collision-shape physics-simulation collision-detection rigid-bodies rigid-body-dynamics vhacd jmonkeyengine soft-body-simulation jvm-library game-physics open-source
Language:Java 119
Gabryxx7 / RobotArmHelix
3D Simulation, forward and inverse kinematics of a robotic arm in C# using WPF and helix-toolkit
wpf-application visual-c-sharp visual-studio c-sharp kinematics inverse-kinematics robotic-arm
Language:C# 109
ORB-HD / rbdl-orb
RBDL - Rigid Body Dynamics Library - ORB Version - The two main differences to the original rbdl is that this version has error handling and uses polymorphism for constraints
robotics inverse-kinematics inverse-dynamics articulated-body-algorithm multibody-dynamics forward-dynamics error-handling constraints muscle-fitting urdf luamodel python-interface catch2 physics-simulation vcpkg casadi
Language:C++ 93