IK Inverse Kinematics MCP

Choose this endpoint when you need to compute joint configurations from a desired end-effector pose for robotics, simulation, or 3D character animation tasks. Prefer it over forward kinematics solvers when you know the target position and need to derive the joint angles. Suitable for real-time or near-real-time IK queries where a single pose solution is needed.

• Target pose is outside the reachable workspace of the kinematic chain — returns no solution or error
• Ill-conditioned or degenerate kinematic configuration (singularity) — may return unstable or no solution
• Malformed or missing input data string — returns parsing or validation error
• Joint constraints too restrictive to allow a valid IK solution — returns infeasible error
• Ambiguous or underspecified chain configuration — returns an error or unexpected result