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try to modify the moveit source code. 1.add position_only_ik: True in kinematics.yaml file,but it does not work in my move group interface file.so i try 2 2../moveit/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp private_handle.param(group_name+"/position_only_ik", position_ik, false);// change false to true.i fix the bug.it is ok.