tharp
Tharp is an inverse kinematics solver and robot manager designed to work with Johnny-Five. It makes the hard things easy. Check out this video highlighting Tharp's performance.
Installation
npm install tharp
Documentation
Tharp documentation can be found in the wiki.
Example
// This is a simple excerpt, illustrating the configuration// of robot with two legsvar five = tharp = ; var board =
Breaking Changes
- 1.0.0 Swapped Y and Z axes to better match best practices. Renamed "CoxaY-FemurZ-TibiaZ" chain type to "ZYY".
- 2.0.0 Changes
segments
to an array since part names are arbitrary. One person's "coxa" is another person's "hip" and then another person's "shoulder". - 3.0.0 Changes
segments
tolinks
to reflect the proper name.