How to transform joint space to tool space without move the robot?

Technical Questions URScript
1

get inverse kin() transform from tool pose to joint pose without move the robot.
how to do similar way reversely,ie transform from joint pose to tool pose without move the robot.

I need to logical offset resultant of transform joint pose to tool pose first before robot move.

2

No solution on this topic?

3

Someone already put it as a feature request:
https://forum.universal-robots.com/t/need-way-of-computing-forward-kinematics-in-urscript/1251

I hope it get implemented at some point, it’s such a basic feature that should be there already…