A naive implementation of basic IK algorithm & visualization via interactive matplot demonstration.
Despite the intuitive names of each file, here's a simple list of explanation over all the files:
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The 2D_drag.py and 3D_drag.py are two templates of visualizing 2D/3D interactive draggable points. The points can be controlled by mouse-clicking and dragging, and you can rotate the plot with left/right bottom in the 3D version.
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All the files containing "IK" suggest the implementation of corresponding IK algorithm, based on 3D_drag.py. The IK algorithms are the simplified version of those implemented in UE4. The CCDIK_2D.py, for example, indicates my failure of realizing the complete function in 3D scenario, for which I build this sudo-3D version to comfort myself.
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The JacobUtils.py serves the JacobianIK.py, biensur.
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All those files we discussed above can be run by simply "python something", no argv required.
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Use "pip install -r requirements.txt" if necessary.