Add IK Support for Base Movement and joint offsets #43
Description
Add support for joints to be offset in case the final arm's joints are not all in line. This will make the mechanical team's job easier as they won't have to make the arm inline. In addition there are talks about possibly mounting the robot on a rail and having it move along that so add support for the base of the robot to move.
End Goals
- Joint Offset Support for the Inverse Kinematics
- Moveable Base Support for the Inverse Kinematics
- Allow hand to be stationary while base of robot moves
- Allow hand to move with the robot when the base of the robot moves