Jorge Nicho

Not directly but it should be possible to create a custom [update trajectory filter](https://github.com/ros-industrial/stomp_ros/blob/c9cf671799122ead218010c95ad56fa2c33faba2/stomp_plugins/include/stomp_plugins/update_filters/constrained_cartesian_goal.h#L93) plugin to apply specific constraints

I'm not opposed to it

Instead of creating a whole new repo for stomp_core we could just make that into a pure cmake package and modify the CMakeList.txt in stomp_moveit to build only in ROS...

If we don't expect this margin value to change we could set it up as a global const variable with a very small value

@jayalatn feel free to create a PR with the global const variable

Agreed

@simonschmeisser I'm on board with making stop evaluate the cost of the seed trajectory prior to the first iteration, it should be a matter of tweaking the main loop of...