cs-service">
<h2>Inverse Kinematics Service<a class="headerlink" href="#inverse-kinematics-service" title="Permalink to this heading"></a></h2>
<p>The inverse kinematics (IK) service allows users to request robot configurations that satisfy a given set of stance, tool, and task specifications:</p>
<ul class="simple">
<li><p><strong>Stance Specifications</strong></p>
<ul>
<li><p><strong>Fixed Stance</strong>: A valid solution must place the feet at the specified positions, or at their current positions if