I have a 6DOF robot arm, and would like to start driving the end effector around with a joystick. I think the most natural way to do this would be to map my joystick axes to Cartesian velocities of the end effector. I have tried executing very small paths in the desired directions using `MoveGroupCommander.compute_cartesian_path()`, but I end up getting very jumpy results. Are there any facilities built into MoveIt or otherwise to help me do this?
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