calculateInverseKinematics behaviour

[Gregwar]

Hello,

I have strange behaviour using calculateInverseKinematics.

In "normal" mode it appear to works normally, but in "null space" mode my constraints are not respected:

I actually made a repository that reproduces my issue:
https://github.com/Gregwar/pybullet_nullspace_issue

You can change the mode variable at the begining and see that the X values are OK (~0.18m) in "ik" mode and not ok in "nullspace" mode (getting values up to +2cm error), am I missing something ?

My goal here in using nullspace mode is to ensure that the joints are in some ranges