Patent ID: 8508535

Claim:
A computer implemented method of positioning an inverse kinematics (IK) controlled object relative to a surface, the method comprising: receiving, at one or more computer systems, information identifying specification of an IK object having a set of IK object parameters; receiving, at the one or more computer systems, information identifying a surface; receiving, at the one or more computer systems, information identifying a first pose associated with the IK object, the first pose having an IK goal for the IK object reflected in a first set of values for the set of IK object parameters; determining, with one or more processors associated with the one or more computer systems, position and orientation of a component of the IK object relative to the surface determining, with the one or more processors associated with the one or more computer systems, a second set of values for the set of IK object parameters based on the determined position and orientation of the component of the IK object; and generating, with the one or more processors associated with the one or more computer systems, information indicative of a second pose of the IK object based on the second set of values for the set of IK objects parameters.