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2014-05-02 19:17:15 -0500	asked a question	katana arm: inverse kinematics Hi everyone, I want to ask if there is any way to get the katana inverse kinematics for the "katana_gripper_tool_frame" without caring for the orientation for the end effector (orientation.x,y,z,w), but only for the position (position.x,y,z)? Thank you.

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