Inverse Kinematics Tutorial & Workshop Recording

[Shashank_Shiva]

@bshah I have created a new thread for IK with fixed base.

Inverse Kinematics with the base fixed

Would it be possible to use the IK tutorials and get the joint states for a point without having to move the base? When I run the IK, the base moves as well. I tried setting the velocity and the axis of the joint_base_translation to 0. But that did not work. Removing the joint leads to an error due to mismatch in size. How would I solve this? Thank you.