# closed-chain-ik/three

```js
import { ... } from 'closed-chain-ik/three';
```

### Classes

- [IKRootsHelper](/tools/docs/closed-chain-ik/three/IKRootsHelper.md): Renders the frames of an IK system in a three.js scene. Frame relationships are drawn as lines and joints are drawn with indicators for their degrees of freedom.

### Functions

- [setIKFromUrdf](/tools/docs/closed-chain-ik/three/functions.md): Copies the root transform and joint values from the robot onto the IK tree, matching joints by name.
- [setUrdfFromIK](/tools/docs/closed-chain-ik/three/functions.md): Copies the root transform and joint values from the IK tree onto the robot, matching joints by name.
- [urdfRobotToIKRoot](/tools/docs/closed-chain-ik/three/functions.md): Builds an IK tree from a `URDFRobot` and returns its root joint, which has all six degrees of freedom set. Joint values on the robot are reflected in the tree.