[Feature]: Implement local offset in Inverse Kinematics #2332
Description
What feature or enhancement are you proposing?
IK currently does not let you target the TCP, Tool Center Point, of the robotic arm, just the link origin.
Motivation
As a industrial automation engineer using a robotic arm,
I want to have flexibility on my target position
Because i want to position a link offset on my object, not the link itself. It would collide otherwise. I don't want to add a constraint on the orientation of the link, just a relative position. This generally applies to the link at the bottom of the kinematic chain.
Potential Benefit
It improves Motion Planning performance and overall task speed. It avoids a. adding a constraint on the link orientation and b. going through an intermediate pre-grasp position.
What is the expected outcome of the implementation work?
- Implement local offset in Inverse Kinematics
Additional information
No response