# Inverse Kinematics for base + end effector pose

**URL:** <https://forum.hello-robot.com/t/inverse-kinematics-for-base-end-effector-pose/177>\
**Category:** Discuss\
**Created:** [May 31, 2021, 12:40am UTC](https://forum.hello-robot.com/t/inverse-kinematics-for-base-end-effector-pose/177 "2021-05-31T00:40:22Z")\
**Posts on this page:** 1\
**Showing post:** 10

<div class="post-metadata">

**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\
**Post date:** [March 19, 2023, 10:11am UTC](https://forum.hello-robot.com/t/inverse-kinematics-for-base-end-effector-pose/177/10 "2023-03-19T10:11:20Z")

</div>

Good timing, it is available @Zackory! See the announcement post below. I’m also hosting a workshop to go through the Jupyter notebook and answer questions. Would be great to see your students there.

> [@Inverse Kinematics Tutorial & Workshop Recording](https://forum.hello-robot.com/t/inverse-kinematics-tutorial-mar-29-workshop/639):
>
> [[Screenshot from 2023-03-19 02-23-01]](https://github.com/hello-robot/stretch_tutorials/blob/master/stretch_body/jupyter/inverse_kinematics.ipynb) New tutorial for inverse kinematics on Stretch has been [released on Github](https://github.com/hello-robot/stretch_tutorials/blob/master/stretch_body/jupyter/inverse_kinematics.ipynb)! You can preview the tutorial on Github, and instructions to run it are within the notebook itself. Additionally, I’m hosting a workshop in 2 weeks to go through the tutorial and answer any questions. Here are the event details: Inverse Kinematics Workshop Date: March 29, 2023 at 11am PT Meeting Link: [meet.google.com/yhm-ecbh-uof](http://meet.google.com/yhm-ecbh-uof) Agenda: [https://docs.google.com/document/d/1mtFlc…](https://docs.google.com/document/d/1mtFlcYvDELelepcE6QZ5oN85sC8zxgTvQlybsxGQa6g/edit?usp=sharing)

---

_[View the full topic](https://forum.hello-robot.com/t/inverse-kinematics-for-base-end-effector-pose/177)._