This is an inverse kinematic model and gait generator for the OpenCat project based on the IKPY library (http:https://phylliade.github.io/ikpy).

For best results change the optimization algorithm in IKPY from L-BFGS-B to SLSQP.

inverse_kinematics.py line 134 from L-BFGS-B to SLSQP.

res = scipy.optimize.minimize(optimize_total, chain.active_from_full(starting_nodes_angles), method='SLSQP', bounds=real_bounds, options=options)