Inverse Kinematics Functionality
Posted: Fri Oct 01, 2021 3:52 pm
Hello,
I'm current working with pybullet's calculateInverseKinematics function, and I am trying to use it to constrain the kinematic chain such that the mobile base of the robot I am working with is not a part of it. I have tried using the null space functionality of the IK, but I can't seem to get it to work or find the source code to figure out how to use it properly. I've tried other IK libraries, but they were significantly slower and limited my simulation's performance. Does anybody have any ideas on where I could find either the source code or more extensive documentation on the calculateInverseKinematics? Thank you!
I'm current working with pybullet's calculateInverseKinematics function, and I am trying to use it to constrain the kinematic chain such that the mobile base of the robot I am working with is not a part of it. I have tried using the null space functionality of the IK, but I can't seem to get it to work or find the source code to figure out how to use it properly. I've tried other IK libraries, but they were significantly slower and limited my simulation's performance. Does anybody have any ideas on where I could find either the source code or more extensive documentation on the calculateInverseKinematics? Thank you!