Transformation from cartesian to joints

[LucianBaron]

Hi! Is there a way to transform cartesian coordinates [x,y,z,rx,ry,rz] to joint coordinates using a function and not using get_j? Thank you!

[samyk]

I just pushed a branch on my fork that can likely do this for you with example: https://github.com/samyk/python-urx/blob/inversekin/examples/inverse_kinematics.py