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computeCartesianPath should support planning for changes in orientation, but the default KDL planner usually does not perform very well when using computeCartesianPath, due to the way it is implemented.

I would suggest you try out the TRAC-IK planner, which is a more or less drop-in replacement.

The official tutorial can be found here: http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/trac_ik/trac_ik_tutorial.html

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