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2018-06-22 03:31:07 -0600 answered a question How to control the 'ghost' in MoveIt's Rviz MotionPlanning plugin from code?

Check this tutorial. There is all you need there:

2016-01-12 09:59:54 -0600 commented question planning with orientation constraint in moveit

I am struggling with orientation constraints and I am also working with a Kuka arm. Did you managed to make it work properly under MoveIt ?

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2015-04-07 15:41:28 -0600 commented answer Cartesian velocity control of robot arm

rand, did this method worked for you or did you find something else? I am trying to do the same thing with my 7DOF robot. Thanks