</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
<span class="w">        </span><span class="sd">&quot;&quot;&quot; Request an IK solution.</span>

<span class="sd">        Args:</span>
<span class="sd">            request (InverseKinematicsRequest): Request to issue</span>

<span class="sd">        Returns:</span>
<span class="sd">            The InverseKinematicsResponse message</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">return<