====================
Inverse Kinematics
====================

For comprehensive inverse kinematics documentation including:

- Basic inverse kinematics usage
- Axis constraints (position_mask and rotation_mask parameters)
- Batch inverse kinematics for multiple poses
- Visual examples of different constraint types
- Advanced features and performance optimization
- Common usage patterns

See:

- :doc:`../reference/robot_model_tips` - Comprehensive IK documentation
- :doc:`../examples/index` - Basic IK examples