DCDT toolkit
A standalone version of our Dynamic Constrained Delaunay Triangulator. Available 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.Note: The software developed by the Graphics Lab is distributed for noncommercial use only, and without any warranties. Specific distribution terms are available within each distributed package.