Hi everybody,

Classical jacobian inverse kinematics using transpose or pseudo inverse fails when the target is unreachable. I read that SDLS works good for unreachable target, this is something I never tried yet because I actually use the pseudo inverse method but it's definitively something to try to improve the quality.

Here the question:
Is there a safe way to handle unreachable target in a more optimized way instead of the full IK passes?

If someone has experience about the multiple methods and want to share some tips to make the IK more stable and flexible you are welcome!
Contraints is something I didn't try yet but it's definitively something to explore.

Thanks!