How can i integrate the torque mode and IK mode at the same robot ?

[sdh0007]

Hi,

The questions are about my algorithm need the joint can be in torque mode for some time, and then transfer to the IK mode.

1. how can i disable the IK link when i want to just give the joint angle to make the robot move, and at the same time, the tip (base link to the foot of robot) also move with my leg.

2. how can i transfer to IK mode, when i am in torque mode during the robot is moving?

Thank you so much,
I really appreciate your answer.

[coppelia]

It is never a good idea to switch from having an object dynamically to not dynamically enabled: you will get a strange behaviour. If you need IK, then consider having a duplicate of you robot that is not dynamically enabled. On the static model you can compute IK, etc. You can also have your duplicate model hidden.

Cheers