A long time back there was an API review for cartesian trajectory messages
[1] but it'd be nice to standardize a ROS interface for cartesian
manipulator goals and trajectories.

Is anyone interested in resuming this, maybe as an REP and ratifying it (or
whatever we want to call the creation of message standards)?

[1]
http://www.ros.org/wiki/robot_mechanism_controllers/Reviews/Cartesian%20Trajectory%20Proposal%20API%20Review

-- 
Jonathan Bohren
Laboratory for Computational Sensing and Robotics
http://dscl.lcsr.jhu.edu/People/JonathanBohren