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IK systems?

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Does anyone know any papers on how to build a complete optimisation based IK system that will optimise for root position, orientation and the joint angles? Search on google tend to turn up IK system designed for specific situation or needs and those seems to use a general system usually do not give details of their implementation. The current system that I wrote only optimise for joint angles and have to rely on user to set position and orientation of root and I would like it to be otherwise but I am having problem optimising for position and orientation as well as joint angles. thanks

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