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.
Triangulation-Based Path Planners
The software related to our triangulation-based path planning work
is now starting to be available from
STIK: Swing-Twist Inverse Kinematics
A new implementation of the analytical IK directly solving
for swing-twist joints and with collision and limits avoidance.
NEW: SIG Toolkit
Most of the software developed to support our research work is being integrated
in the new project
now available under the Apache License Version 2.
P.S. SIG is replacing our old platform graphsim, which
is no longer maintained.