CoppeliaSim forums

Hello,

I'd like to see the IK functionality in CoppeliaSim a bit more flexible and documented, e.g. in order to be able to understand and modify the Jacobian for instance.

Thanks

Hello,

we are actually working on improving the current IK implementation: you will be able to sepcify a callback routines, in which you can inspect and manipulate the Jacobian as you wish.

Cheers