Is there a simple example of driving a chain towards a target?

[mlp1802]

There are lots of examples, but I simply need one that does this:

1. set up a chain
2. Call a function that drives that chain towards a target
3. Read the result

I looked through the code and it's kind of overwhelming to figure out what to do.

[djrakita]

The library is still under heavy development, and examples/ documentation are still being fully fleshed out, but the closest examples I have for this use case are the following:

https://github.com/djrakita/optima/blob/main/examples/_motion_ik.rs
https://github.com/djrakita/optima/blob/main/examples/_static_ik.rs

It sounds like you may be looking for motion ik and not static ik, feel free to refer to the documentation here for more info.

Hope this helps! And, if the library isn't able to do what you're hoping for yet, stay tuned for future updates.

[mlp1802]

The library is still under heavy development, and examples/ documentation are still being fully fleshed out, but the closest examples I have for this use case are the following:

https://github.com/djrakita/optima/blob/main/examples/_motion_ik.rs https://github.com/djrakita/optima/blob/main/examples/_static_ik.rs

It sounds like you may be looking for motion ik and not static ik, feel free to refer to the documentation here for more info.

Hope this helps! And, if the library isn't able to do what you're hoping for yet, stay tuned for future updates.

Thanks. I already analyzed this code, and read all the documentation, and my problem is: I don't want to load my robot from a file, I want to create it manually by hand, since I already have a structure. Is it not possible to create a chain by code?

[djrakita]

I see. This is not natively handled in the library; however, if you were to create a urdf for your custom chain, the library will be able to load it in. This should work even if you do not link to any mesh geometry.

[mlp1802]

Yes ok thanks..maybe it's possible to load a configuration, then change the joint setup after? also is it possible to change the joint rotations before solving? my character is constantly moving (it's a game).
Still think you should make the functionality available through api calls instead of only files, it would make it immediately usable for so many users, there are no working IK solutions in rust. Perhaps move the IK solution itself to something simpler? dealing with scenes, meshes, robot sets might be overkill for many solutions.