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What you request could be achieved using a cartesian path (if you can move between points in a straight line or can already generate some sort of cartesian waypoints) or using constraints while planning using MoveIt!. The latter (using constraints) was not completely implemented last time I read about it. For cartesian planning, here is an answer that is pretty comprehensive.
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What you request could be achieved using a cartesian path (if you can move between points in a straight line or can already generate some sort of cartesian waypoints) or using constraints while planning using MoveIt!. The latter (using constraints) was not completely implemented last time I read about it. For cartesian planning, here is an this answer that is pretty comprehensive.
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