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The current cartesian path planning in MoveIt is quite limited. Your specific example confuses me though. To use the GetCartesianPath ROS service, you have to provide the start state. If MoveIt were allowed to decide on a start-state, this would most likely end up in a non-cartesian trajectory to reach the start state first of all.

If you need further capabilities, have a look at the decartes project. We are currently discussing to integrate this into standard MoveIt. https://github.com/ros-planning/moveit/issues/467

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