Hi All,

I have a Doosan A0509s 6-DOF arm, and the entire setup is working fine with ROS.

However, IK for a target pose of the end-effector link is the end point of the robot (link 6 - point of attachment of the tool to the arm) when using moveit. What I need is to plan the goal in the "tool frame", for example, a frame located at the tool tip (or gripper tip, doesn't matter).

I can define this tool frame in the URDF and with a desired pose for the tool frame (say relative to the link 6 frame), but that is clearly changing only the outer visual and not the actual kinematics. How do I "back transform" this into a target pose for the end-effector link? Or is there any other method to do this?

What I tried - I tried changing the dimensions of the link 6 itself (replaced it with a simple cylinder with length = link 6 length + tool length), to see if the end point will move outward automatically, but it did not.

Any help will be very helpful. Thanks.