I'm using the franka arm in my project, and I want to move the EEF in a straight line at constant velocity. I followed the move group C++ instructions on the MoveIt website, and I can move the hand from one point to another, but some times it follows a weird trajectory to move to the destination.

I'd like to know if I can somehow configure the trajectory that the robot should follow. To make sure the robot follows a straight line.

I thought of writing several points in a cartesian path, but when I do so the velocity and acceleration scalings are ignored. And I need realy slow and constant velocities.

Is it possible to do so? If not, is there any other way instead of using MoveIt in which I could do so?