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ROS-Industrial recently released the 'Cartesian Path Planner Plug-In for MoveIt!' for RViz. That would allow you to plan / play / debug Cartesian paths from within RViz, similar to how the MoveIt plugin works.

Blog posting: Cartesian Path Planner Plug-In for MoveIt! (it's not a MoveIt plugin, but an RViz plugin).

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