# 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:** 12

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**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:** [April 7, 2023, 1:33am UTC](https://forum.hello-robot.com/t/inverse-kinematics-for-base-end-effector-pose/177/12 "2023-04-07T01:33:28Z")

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Hi @Shashank_Shiva, welcome to the forum. Yes, you can do that! I recommend using an IK library like IKPy instead of deriving it. Check out the [tutorial/workshop](https://forum.hello-robot.com/t/inverse-kinematics-tutorial-workshop-recording/639) to see how this is done. Happy to answer any questions too.

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