Hi Za Ka, You should specify what are your inputs:
- [1, 1, 0, 0, 0, 0] is the mask vector 'mask'
- [rad1, rad2] is the initial joint configuration 'q0'
So, change the last line like that : I = R.ikine(Td, 'q0', [rad1, rad2], 'mask',[1, 1, 0, 0, 0, 0]) It should work. If it didn't you have to change the initial pose [0, 0] by some other values like [pi/2, pi] so that it can converge after less than 1000 iterations.