If one is using MoveIt! with a custom plugin for the kinematic solver, is it okay to specify a target pose in a link frame that was not present when the plugin was made? I've fixed a tool on the tool0 link (the tool flange) of the UR10 model and MoveIt! is using the UR10KinematicsPlugin. Everything has operated just fine when I had the end-effector as the final link in the planning group in the SRDF, but I'm wondering if there's some reason I ought to have the planning group stop at the tool flange and specify target poses for that frame instead of the ee frame.
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