I have generated an arm navigation package for a 7 DOF arm using the Planning Description Configuration Wizard, and everything works fine except disabling constrain in roll and pitch. Even though the check-box is un-ticked,the end-effector always maintains the roll, pitch and yaw. So the number of IK solutions are limited, since the end-effector may not be able to maintain the orientation at the given position. Has anyone else faced such kind of problems before?