# Revision history [back]

### MoveIt! 2DOF Robot

Hi all,

I am trying to complete a small project with a 2 DOF planar manipulator. I decided to use MoveIt! for path planning, and will ultimately add a series of points for the robot to move to using a Cartesian trajectory. As shown below, in the MoveIt demo after successfully importing my URDF a random, valid pose can be chosen and a path planned to it:

In my cpp code it appears that I have to specify each piece of the pose (xyz/rpy). Thus, since I only care about the xy position and not any other parameters, I don't want to set that in this segment of my code:

  geometry_msgs::Pose target_pose1;
target_pose1.position.x = 0.20;
target_pose1.position.y = .25;
group.setPoseTarget(target_pose1);
moveit::planning_interface::MoveGroup::Plan my_plan;
bool success = group.plan(my_plan);


Do any options exist for me to query a valid pose for the robot with x and y specified, while simultaneously not caring about the final z (constant) or orientation? Thanks!

### MoveIt! 2DOF Robot

Hi all,

I am trying to complete a small project with a 2 DOF planar manipulator. I decided to use MoveIt! for path planning, and will ultimately add a series of points for the robot to move to using a Cartesian trajectory. As shown below, in the MoveIt demo after successfully importing my URDF a random, valid pose can be chosen and a path planned to it:

In my cpp code it appears that I have to specify each piece of the pose (xyz/rpy). Thus, since I only care about the xy position and not any other parameters, I don't want to set that in this segment of my code:

  geometry_msgs::Pose target_pose1;
target_pose1.position.x = 0.20;
target_pose1.position.y = .25;
0.25;
group.setPoseTarget(target_pose1);
moveit::planning_interface::MoveGroup::Plan my_plan;
bool success = group.plan(my_plan);


Do any options exist for me to query a valid pose for the robot with x and y specified, while simultaneously not caring about the final z (constant) or orientation? Thanks!