[Problem Situation]
- In a scenario where we only have a right-hand tracker, we need to represent the full range of motion for the right arm, including the wrist, elbow, and shoulder, using a single device.
- Since the hand tracker primarily tracks the movements of the hand and wrist, additional motion mapping for the elbow and shoulder is necessary.
I have learned that this problem can be addressed using Inverse Kinematics (IK) algorithms, and I also discovered that Omniverse Isaac Sim offers the Lula Kinematics Solver for this purpose.
[Question]
Is it possible to use the Lula Kinematics Solver in Omniverse Isaac Sim to compute the angles of the arm’s joints (wrist, elbow, shoulder) based on hand position data? (I would like to confirm if my understanding is correct)