Root link for IK chain

[chrisw-shadow]

Hi there,

Question about IK - in the readme it says to use the robot base for the IK. Is this always true? Or should I be using the base link for the kinematic chain that I am calculating IK for?

Basically, I have a hand where the base of each finger's kinematic chain is different and the IK solutions I am getting are not very good and I was wondering if this was the issue (I AM using the robot hand's base link (EE link) as the base link in the IK calculation).

Thanks 🙂

[LemonPi]

That should be fine - IK can be done on each kinematic chain independently. I think there was a branch that someone in the lab was working on for hands specifically to do IK for each finger/link combined, but I'll need to ask around.