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I'm learning Webots these days and have gone through their example project on inverse Kinematics.(https://cyberbotics.com/doc/guide/irb4600-40) In their example project they are testing Inverse Kinematics for the ABB IRB 4600 robot arm. The controller code is written in python and it mainly uses a python library known as "ikpy"(https://pypi.org/project/ikpy/)

I'm trying to follow this example project to control a differential drive robot model with inverse kinematics in Webots. I'm stuck at creating the controller code for the robot to move with the Inverse Kinematics. Can someone suggest me tips on what are the things to refer and how to use "ikpy" library for the differential drive robot? . Thank you

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