Use inverse kinematics

May I know where I can find the documentation on deploying inverse kinematics?

Thank you.

Please see Lula Kinematics Solver — Omniverse Robotics documentation

This currently requires that you have a URDF for your robot and that you create a “robot description” YAML file.

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Hello, may I know what are the differences between Lula Kinematics Solver and Lula Kinematics Solver?
Which one is recommended if I have a custom robot?

Besides, may I know if we can convert to USD of a robot to urdf file?

Thank you.

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