i><p><strong>Tool Pose Task</strong>: A valid solution must place the tool frame such that the specified target lies on the tool frame’s x-axis.</p></li>
</ul>
</li>
</ul>
<p>The service responds with a robot configuration that meets those specifications or a status indicating that it was unable to find a solution.</p>
<p>The IK service does not cause the robot to take any actions, but the information it returns can be used to populate <a class="reference external" href="../robot_services.html#robot-comma