cram-code/cram_bridge — pull request #4 by fairlight1337 (2014-01-20 10:54:16+00:00)
Title: Extended the MoveIt! interface for executing trajectories, computing IKs, checking on movement viability

See the individual commits for a more detailed description of what was changed.
Most importantly: Compute, check, and execute IKs directly (bypassing the motion planning pipeline).