• Read more about FABRIK: Paper
• Find more about this project: 3DReptiles website

As specified in the paper above regarding FABRIK, "FABRIK uses a forwardand backward iterative approach, finding each joint posi-tion via locating a point on line. FABRIK has been utilisedin highly complex systems with single and multiple tar-gets, with and without joint restrictions. It can easily han-dle end effector orientations and support, to the best of ourknowledge, all chain classes. A reliable method for incorpo-rating constraints is also presented and utilised within FABRIK"

📁 Current repository

This repository contains the:

• Implementation of FABRIK for a lizard with 17 markers

Based on Andreas Aristidou's snake implementation, I converted the code to python and implemented a more complex than snake model, the lizard.

🎯 Goals

• Parse a C3D file
• Read the markers' values and fix missing values
• Export fixed values as a new C3D file
• We should be able to use the new file in order to apply a lizard model and export realistic animations

💻 Implementation

• The lizard we would like to fix the values for has in general the following marker labels:
  • Lizard:Head
  • Lizard:Neck
  • Lizard:FrontRightLeg
  • Lizard:FrontRightFoot
  • Lizard:FrontLeftFoot
  • Lizard:FrontLeftLeg
  • Lizard:UpperBack or UpperBody
  • Lizard:LowerBack or LowerBody
  • Lizard:BackRightLeg
  • Lizard:BackRightFoot
  • Lizard:BackLeftLeg
  • Lizard:BackLeftFoot
  • Lizard:Tail0
  • Lizard:Tail1
  • Lizard:Tail2
  • Lizard:Tail3
  • Lizard:Tail4

Dependencies

• Numpy
• C3D server(python bindings)
• Matplotlib

Other official modules

• Math
• Argparse
• Os