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Depending on your application, you might be able to try something like the carrot_planner.

As far as I know, this doesn't exist in MoveIt, but it shouldn't be too hard to implement something manually. Not as an official MoveIt planner, but as a wrapper around calls to the existing MoveIt plan() interface. This is a pretty naive approach, but may satisfy some simple just-out-of-reach cases.

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