Hello everyone, I am trying to teleoperate the AR4 robotic arm and a Inspire Robotics Dexterous hand mounted on it (as shown in the fig) through the Leap Motion Controller. The setup is working fine, I am able to teleoperate both devices simultaneously, however, the system lacks the coordination between them. The reason for this is the time taken to calculate the inverse kinematics on Teensy4.1 board. At times it takes more than 6 sec to drive the AR4 to the desired position. I did try to play around with the delay() but didn't work. Is there any way to decrease the inverse kinematics calculation time? Thanks in advance! Note: I am not that good at coding but trying my best.