Code:

def calculateIK3(feet_positions, jointDamping):    pos_body = np.array(p.getBasePositionAndOrientation(hexapod_ID)[0])    orn_body = p.getBasePositionAndOrientation(hexapod_ID)[1]    rest_poses = []    target_pos = []    link_indexes = [x for x in range(3, 24, 4)]    for j in range(6):        rest_poses.append(pos_body + p.multiplyTransforms([0, 0, 0], orn_body, baseToEndEffectorConstVec[j], [0, 0, 0, 1])[0])        tp = p.multiplyTransforms(rest_poses[j], orn_body, feet_positions[j], [0, 0, 0, 1])        target_pos.append(tp[0])    ik2 = [0] * 18    # ik = p.calculateInverseKinematics2(    #     hexapod_ID,    #     [link_indexes[0]],    #     [target_pos[0]],    #     lowerLimits=ll,    #     upperLimits=ul,    #     jointRanges=jr,    #     restPoses=rest_poses    # )    # print(ik, len(ik))    iks = []    for j in range(6):        temp_ik = p.calculateInverseKinematics(            hexapod_ID,            link_indexes[j],            target_pos[j]        )        temp_ik = list(temp_ik[(3 * j):3 + (3 * j)])        # print(len(temp_ik), temp_ik)        iks.extend(temp_ik)    # print(iks)    # iks = list(temp_ik[:3]) + [0] * 15    return iks