Cartesian motion planning with constraints in MoveIt

Many industrial robot applications specify a Cartesian end-effector path, that could be under-constrained. The MoveIt’s RobotState function, “computeCartesianPath”, fulfills only a small part of this demand. OMPL has advanced capabilities to handle constraints that are not integrated with MoveIt yet. Examples of applications that can benefit from this integration are robot welding, grinding, painting, and many more.

Concretely this would mean integrating OMPL’s Cartesian planning capabilities in the existing planning plugin. If time allows it, I would like to add support for Cartesian path constraints in TrajOpt. All deliverables should include documentation, tutorials, and tests.