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. Advice on where to start?