How can I ignore custom ee orientation

[shreyassule7738]

I'm trying to modify the end effector as given in this image for high speed application: https://images.app.goo.gl/yNzHzeYq1mPrqKyf6 Basically this is just a extended end-effector with universal joint. I have understood how I can offset the end effector position but not sure how can I make the IK ignore the end effector orientation as it will be taken care by the universal joint. If I can get help on this, this might solve my problem for my high speed and reaction problem.

[penglongxiang]

Hi @shreyassule7738, sorry for the late reply, we are just back from holiday. Do you mean you do not care about the orientation of the IK solution and just focusing on the position of the offset-ed end-effector? And if that is the case, do you still need the end tool to execute straight-line trajectories?

We do not support Position-only IK currently, but we can do some assessment about the possibility with more application info, have you used any similar function with other robot arms like KUKA and what was the corresponding API?

Meanwhile, you may check if there is third party IK solvers available which can support this function.