As some of you know, I've been working on compliant manipulations that require real-time Cartesian motions, so I made a Cartesian jogger package. Currently I do Cartesian motions programmatically (vs. teleoperated) by sending ROS msgs (as if coming from a joystick) but I'm definitely interested in getting this integrated with MoveIt. I don't think it will be tooo difficult either. Any interest? Advice on where to start?
[compliant manipulation video](
https://drive.google.com/open?id=1FJvd5XGKFq5UE2kBpLXXvIJcwfirq0wm)
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