cartesian planner sucks #1
Description
Problem with cartesian planning: Turns out it falls into many local minimums and the default is not recommended. So in order to deal with problem we will have to change to the OMPL solver: https://picknik.ai/cartesian%20planners/moveit/motion%20planning/2021/01/07/guide-to-cartesian-planners-in-moveit.html
Will need to build this specific branch: moveit/moveit_tutorials#518