# Descartes MoveIt integration!

**URL:** <https://discourse.openrobotics.org/t/descartes-moveit-integration/8724>\
**Category:** Manipulation\
**Tags:** moveit, descartes\
**Created:** [April 12, 2019, 10:04pm UTC](https://discourse.openrobotics.org/t/descartes-moveit-integration/8724 "2019-04-12T22:04:25Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![mlautman](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mlautman/32/1497_2.png) [@mlautman](https://discourse.openrobotics.org/u/mlautman)\
**Post date:** [April 12, 2019, 10:04pm UTC](https://discourse.openrobotics.org/t/descartes-moveit-integration/8724/1 "2019-04-12T22:04:26Z")

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[PickNik](http://picknik.ai/) and [Carbon Robotics](https://carbon.ai/) are excited to be releasing a standalone `move_group` capability for planning semi-constrained Cartesian paths with [Descartes](https://github.com/ros-industrial-consortium/descartes). This capability is a drop-in replacement for `move_group`’s [MoveGroupCartesianPathService](https://github.com/ros-planning/moveit/blob/master/moveit_ros/move_group/src/default_capabilities/cartesian_path_service_capability.h) that uses a thin wrapper around Descartes instead of the very simple Cartesian planner in MoveIt Core.

Check it out on [GitHub](https://github.com/PickNikRobotics/descartes_capability)!

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**Author:** ![vmayoral](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/vmayoral/32/3665_2.png) [@vmayoral](https://discourse.openrobotics.org/u/vmayoral)\
**Post date:** [April 13, 2019, 6:10am UTC](https://discourse.openrobotics.org/t/descartes-moveit-integration/8724/2 "2019-04-13T06:10:10Z")

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Thanks for sharing! @igorrecioh, @ahcorde, @carlossv