add 6D Actuator, IK and FK Solvers (specify rotation and orientation of end-effector)#25
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jdegenstein wants to merge 1 commit intolanius:masterfrom
Open
add 6D Actuator, IK and FK Solvers (specify rotation and orientation of end-effector)#25jdegenstein wants to merge 1 commit intolanius:masterfrom
jdegenstein wants to merge 1 commit intolanius:masterfrom
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First off, thanks for this library -- it is my favorite IK library that I have tried so far and more robust in some ways as well.
@lanius per your comment here #17 (comment) I learned tinyik does not support specifying the rotation and orientation of the end-effector.
I believe this PR closes that gap, and using this modified version of tinyik (and some other software) I was able to create this animation with a constrained end effector rotation and position:
Code_6FhTqF1RAG.mp4
I have not yet added tests as I would like some feedback on the approach I have taken with creating new classes for this new use-case. I used the black formatter on the files I edited, so there are some unrelated formatting changes that I can revert if necessary.