simtk.org

Hi everyone,

Is it possible to perform Inverse Kinematics using joint angles instead of markers coordinates? If yes, how can this be done?

Thank you very much for your help!

The objective of IK is to compute joint angles; if you already know the joint angles, then there is no need to run IK.

Nonetheless, you can add IKCoordinateTasks to your IKTaskSet to track individual coordinates; perhaps you want to track only some coordinates.