RelTool - Make a displacement relative to the tool

[matteo-pacher]

As a compas_rrc user, I would like to take advantage of the tool relative motion (RAPID RelTool)

Details

Describe the feature and the current behavior/state
RelTool allows tool relative motion and rotation.

Describe alternatives you've considered
I am currently reading in the robot frame, offsetting the frame, and then moving the robot with a MoveL to the offset target frame.

Will this change the current API? How?
Adding a class ToolRelativeMove to motion.py, and implementing the RAPID function.

Are you willing to contribute it?
Yes, I can help with the class ToolRelativeMove in the motion.py module.