Inverse Blending Demo

New: A standalone simplified version of our inverse blending method for motion parameterization is available here. The package comes with example datasets collected as part of our past HCC NSF project. The current version is preliminary, and additional motion data (and code updates) will be coming soon. Available here.



Triangulation-Based Path Planners

The software related to our triangulation-based path planning work is now starting to be available from here.



STIK: Swing-Twist Inverse Kinematics

A new implementation of the analytical IK directly solving for swing-twist joints and with collision and limits avoidance. Available here.



NEW: SIG Toolkit

Most of the software developed to support our research work is being integrated in the new project SIG, now available under the Apache License Version 2.

P.S. SIG is replacing our old platform graphsim, which is no longer maintained.