nd">robot commands</a>. See the following <a class="reference internal" href="../../../python/examples/inverse_kinematics/README.html"><span class="doc">examples</span></a> for more on how to use the service.</p>
<section id="frames">
<h3>Frames<a class="headerlink" href="#frames" title="Permalink to this heading"></a></h3>
<p>Along with the <a class="reference external" href="../geometry_and_frames.html#frames-in-the-spot-robot-world">usual frames</a>, the IK service API refers to several additional fra