Position Only Inverse Kinematics in Moveit

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I already tried group.setPositionTarget but it didn't work as expected, I also tried to set the start state by using group.set_start_state but still, I see that it is taking random orientation. Orientation at pose 1 and 2 is not exactly same. I would like to keep it vertically downward inclined.

If you want to keep the same orientation, that's more easy.

You could compute the eef-pose (position&orientation) and use this orientation together with your new position instead of the position-only target.

So from pose 1 to pose 2 you want to keep the same orientation, but just move the end effector position?

Keeping the orientation same throughout the trajectory is limiting the workspace. I really don't have much control over orientation. I want the IK solver to keep the orientation as close as possible to pose 1 but it can change slightly in order to reach the target point.

Updated my original answer with a suggestion. What we have been talking about so far is only for pose 1 and pose 2. When you mention trajectory though that means the path it follows from pose 1 to pose 2. Which one do you mean?

I don't need trajectory. I just need the joint angles for pose 2 (keeping in mind pose 1). Hence "we have been talking about so far is only for pose 1 and pose 2." is correct.

@JoshMarino: Setting orientation constraint using group.set_path_constraints and then setting position using group.set_position_target is seems not working. Please have a look here

My only suggestion is to mess around with the orientation constraint tolerances and weight. You might also want to try using the quaternion values point B instead of the mean values along the trajectory. Once you get something working, can try making it more robust.