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Given the following text description, write Python code to implement the functionality described below step by step
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Description:
 Robot Kinematics
Initialize Robot Model
A robot model, at a very minimum, is a kinematic chain
The kinematic chain is defined by a series of parameters
See Modified DH parameters for more info
Step1:  Forward Kinematics
The forward kinematics (FK) refer to the use of the kinematic equations of a robot to compute the pose of the end-effector (i.e., 4x4 transform matrix) from specified values for the joint parameters (i.e., joint angles)
ELI5
Step2:  Inverse Kinematics
The inverse kinematics (IK) makes use of the kinematics equations to determine the joint parameters that provide a desired position for the robot's end-effector
The default internal IK implementation uses scipy.optimize.least_squares with joint limit bounds
ELI5
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Python Code:
from pybotics.robot import Robot
from pybotics.predefined_models import ur10
robot = Robot.from_parameters(ur10())
Explanation: Robot Kinematics
Initialize Robot Model
A robot model, at a very minimum, is a kinematic chain
The kinematic chain is defined by a series of parameters
See Modified DH parameters for more info
End of explanation
import numpy as np
np.set_printoptions(suppress=True)
joints = np.deg2rad([5,5,5,5,5,5])
pose = robot.fk(joints)
display(pose)
Explanation: Forward Kinematics
The forward kinematics (FK) refer to the use of the kinematic equations of a robot to compute the pose of the end-effector (i.e., 4x4 transform matrix) from specified values for the joint parameters (i.e., joint angles)
ELI5: Where am I with the given joint angles?
End of explanation
solved_joints = robot.ik(pose)
display(np.rad2deg(solved_joints))
Explanation: Inverse Kinematics
The inverse kinematics (IK) makes use of the kinematics equations to determine the joint parameters that provide a desired position for the robot's end-effector
The default internal IK implementation uses scipy.optimize.least_squares with joint limit bounds
ELI5: What joint angles do I need to have this position?
End of explanation
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