Available Code

To download the source code for the swing-and-twist Inverse Kinematics, please follow the download page.

The source code requires fltk 2.0 to be compiled, but it comes with a windows executable (with instructions.)

Note: an extended version of this code is also available integrated within the graphsim toolkit (but which is no longer maintained for public releases).

Videos

A video illustrating STIK in use can be found here.

A collision avoidance example can be seen here.