smooth motion through waypoints using moveit

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Hi,

I am using Panda research with systemversion 3.0 libfranka 0.6.0 and ros Kinetic on Ubuntu 16.04 +4.14.12-rt10 rt patch. To actually move the robot I use the moveit python interface and the command “computeCartesianPath”.

I want to move the robot in a smooth way along a curve, but even with a high number of sample points there is stutter in the motion. The script that I am using distributes equidistant points on a nurbs curve then uses those points for "cartesian path".The reason for the stutter, I think, is, that there can not be a smooth motion with straight line segments that are not collinear.

How can I achieve a smoother motion trough set points using the moveit phyton interface?

possible things that could work but I don’t know exactly:

smoothing filter

chomp planner

many thanks for any answer/ advice!