Inverse kinematics with a custom tool frame

[guri-dominic]

Thank you for your work on this great software package!

I am working with the xarm6 urdf with no end-effector, and I would like to use a tool frame transform. For forward kinematics, I am using

Tool = sm.SE3.Tz(0.1)
ee = xarm.fkine(xarm.q, tool=Tool)

How do I include Tool in the ik solvers? Setting xarm.tool = Tool does not work, and there is no tool argument in the ik functions.