Zach, those OMPL additions look very cool. I like the sampling augmented with a little optimization for exploration. It's not necessarily true that something like Descartes can't express the problem, however. Like OMPL, at it's core it's just a way to build and search graphs. For example, Descartes trying to move a 6DOF arm around the perimeter of a part that can turn:
https://www.youtube.com/edit?o=U&video_id=EKYNZPfhyfQ
The problem is your sample space will grow out of control very quickly and so will your planning times... You might just try iterative inverse kinematics (e.g. call set from IK over and over) and see where it gets you. It's at least quick to try.
I have lots of ideas but, frustratingly, I can't really share too much at the moment. Even past motion planning, I'd budget a couple of weeks for debug and testing of your new motion interface.
Gijs, the problem of infinite windup might be addressable in the Descartes (or other planner) space if you specify that your start and end joint pose are the same. If your process allows the robot to get back then you could just continually duplicate that motion.
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