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If you are using MoveIt, you can just set group.setPositionTarget(eef_position_#2). When solving IK for this, there will be an infinite set of possible joint angles to reach that position, without constraining the orientation.

Going from pose 1 to pose 2 from an IK solver standpoint does not matter what the joint angles are for pose 1. It could come into play if you are trying to minimize the motion from pose 1 to pose 2 though.

If you are using MoveIt, you can just set group.setPositionTarget(eef_position_#2). When solving IK for this, there will be an infinite set of possible joint angles to reach that position, without constraining the orientation.orientation. This means the orientation reached will be completely random.

Going from pose 1 to pose 2 from an IK solver standpoint does not matter what the joint angles are for pose 1. It could come into play if you are trying to minimize the motion from pose 1 to pose 2 though.

If you are using MoveIt, you can just set group.setPositionTarget(eef_position_#2). When solving IK for this, there will be an infinite set of possible joint angles to reach that position, without constraining the orientation. This means the orientation reached will be completely random.

Going from pose 1 to pose 2 from an IK solver standpoint does not matter what the joint angles are for pose 1. It could come into play if you are trying to minimize the motion from pose 1 to pose 2 though.

Edit: For keeping the orientation similar to the current orientation, it might be best to create an orientation constraint and then plan to a new position target. The orientation constraint can be used to keep the goal pose within a range of the current orientation.