# Inverse kinematics in KDL without rotation

I am trying to use KDL to do inverse kinematics. However I am not interested in the orientation of the end effector, but only in the location. Is there a way to specify this in KDL? The function CartToJnt only seems to accept a Frame with a rotation matrix. Is there maybe a different way to do this in KDL?

• I am not a KDL user so take this as just a suggestion. Have you tried putting a 3x3 identity matrix in for the rotation submatrix? Feb 4 '21 at 15:21
• I have considered it, but the identity rotation is also specifies a orientation. Therefor the algorithm tries to optimize using that orientation. And if that orientation cannot be reached the displacement is also less accurate. I want the algorithm to totally ignore the rotation. Feb 4 '21 at 16:48
• Understood. Thanks for replying. Feb 4 '21 at 16:50