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If you only specify the pose of the end-effector, Inverse Kinematics will be invoked to compute joint value targets internally, that satisfy your request. This might fail and might find different joint solutions each time. If you are using the default KDL kinematics plugin, it probably helps to switch to TracIK. See http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/trac_ik_tutorial.html