fabrik ik integration

[ahundt]

I'm also interested in using the new model constraints published for FABRIK with vsr_chain. Any chance those are present or could be added relatively easily?

• Extending FABRIK with model constraints paper
• Overview of IK methods, including some FABRIK model constraints details
• FABRIK IK algorithm creator's site.

In my case I just have 7dof revolute joints and need to set joint limits.

There is also an interesting thread related to constraints, and another on math.stackexchange

the versor library provides an implementation, which I may be able to use:
wolftype/versor#4

[ahundt]

won't be doing this, we have settled on https://github.com/jrl-umi3218/Tasks