[upbeat_general]

Here’s the simple reason why this is not the case:

If you provide the 6DoF trajectory (+ gripper joints), a lot of robotics (manipulation in particular) is basically solved. The problem is, we don’t have these good trajectories.

Sure, joint space is commonly used for learned policies, but cartesian space isn’t uncommon either.

IK is really just not a major focus on the learning side of robotics because it’s not the problem. The problem is we don’t know what to do even at the slightly higher level.