Question about 'k_ee_link'

[YanJiaHuan]

In your franka urdf file, line 404, you create a virtual link named 'k_ee_link', which is attached to robot's hand's outside. My understanding is that you want to really get the space localization of the end of the robot's hand not the origin or center point. Correct me if i am wrong.

Question
Since you take the ee_pose from this link, <- - line 998 from furniture_sim_env.py, and this pose is passed to control factory (for example osc) to make inverse kinematic to get the desired joint positions.

if the 'hand' is made big enough, get a real extreme x,y,z, which is far beyond the robot's action space, can the inverse kinematic still work then?

I ask this question because my own robot's hand is self-designed and 3D printed, which is manually attached to my robot's urdf, and i am not sure, if i borrow your idea of adding a virtual link of 'k_ee_link', will the ik function function well or not.

Can you maybe give some advice? Thanks.