Moveit teleoperation of 3DOF arm with 3D mouse

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In short, I want to control the endeffector of my 3DOF arm in cartesian space with a 3D mouse. (Very similar to https://answers.ros.org/question/2269... , only that my robot arm only has 3 DOF)

What I got working so far:

• Moveit configuration generated
• I can move the interactive marker, plan and execute paths in Rviz
• I can move the arm into goal poses with orientation from python

Now my problem seems to be that due to the lack of DOFs I always need the orientation values for the EEF in the moveit interface to plan poses that I want my endeffector to end up in.

I attempted to

• generate an IKFast solver using the Translation3D configuration/parameter => compiles, works, however still requires orientation?!
• play with the tolerance as mentioned in https://bitbucket.org/traclabs/trac_i... (changed the value in the all_close() function)
• tried to set position_only_ik: True in kinematics.yaml
• took a look at https://github.com/ros-planning/movei... however I dont want any EEF rotation (also can set it), just an EEF x,y,z position

Now my question is: How can I get moveit to plan paths to EEF positions without needing to specify any orientation values?