Inverse Kinematics Solver

Hello, I’ve been trying to use this code to do inverse kinematics for a simple arm with two joints:

But I’m confused for example how to get the “global” position of a joint in panda3d…

I’m also surprised after searching for this topic finding almost no IK solutions for panda. Does anyone know if there is any simple IK code available for panda?

you can get or set positions and orientatiosn in any coordinate space you like by specifying the node with that coordinate system as first argument of getPos/Hpr etc.

for example: yournode.getPos(render)

afaik there are no ik-samples so far. ik isnt very common in games and realtime applications.