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你好。我想请问一下,假设用七轴做机械臂逆运动学时,ROS里可不可以限制某些关节的转动。例如,根据给定的笛卡尔坐标让机械臂做运动,但我要让第三,第四轴不转动(前提是假设有解可满足需求),请问ROS里有没有这方面的API或功能?