Inverse Kinematics with Moveit!

▶️ 🖥️ 1. In the editor, open the file RBT1001/src/week6/inverse_kinematics_moveit.py. This script already has the implementation that utilises a default Inverse Kinematics Package from Moveit.

▶️ 🖥️ 2. Launch the visualiser with ros2 launch mecharm_moveit_config launch_ik.launch.py to visualise our robot.

▶️ 🖥️ 3. Launch the inverse kinematics script python3 src/week6/inverse_kinematics_moveit.py. As you move the "Target pose control" marker, you should see the results from the IK function printed on the terminal and the robot will assume the found configuration.

▶️ 🔎 Try to move to different target positions and check in which conditions the IK function works and when it fails instead.