Inverse Kinematics
 

I know this question has been flagged up before and that Vizard doesn't support it as standard. But has anyone managed to get inverse kinematics working in Vizard 4.0 with the male avatar?

At the moment I have attached an end effector to the right hand and use lookat() in combination with lock() to move (although incorrectly but it roughly follows the end effector) the hand (R Hand) and subsequent limbs (R Forearm/R UpperArm) but since the male avatar model doesn not support inverse kinematics its a case of hard coding it to work.

I know the OpenRave library has inverse kinematics methods but they are specific for a type of robot.

A big big pain really!

Turns out that as a member of a University I can download Motionbuilder for free! I downloaded the 2012 version and will play with it to get the two working together :)