MoveItPlanner.plan_cartesian_motion_with_point_axis_waypoints_async

MoveItPlanner.plan_cartesian_motion_with_point_axis_waypoints_async(callback, errback, waypoints, start_configuration=None, group=None, options=None)

Asynchronous handler of MoveIt cartesian motion planner service.

AFAIK MoveIt does not support planning for a relaxed axis under this