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Just solved this problem for the TIAGo robot and the panda robot.

I used ComputeCartesianPath() from the Moveit! API and created waypoints using components of the position of the end effector with respect to the centre:

for( theta in 0 to 90)
 target_pose.position. y = r*sin(theta)
 target_pose.position. x = r*cos(theta)
 waypoints.pushback(target_pose)

Then call the ComputeCartesianPath() using required syntax!