Jogs the tool in the base or tool frame. action is start, intent, stop or halt (stop and halt both end the hold). Same session, revision and timing rules as joint jog. GET /dense-execution/cartesian/state returns the jog state.

OLP resolves the twist into joint velocities from the measured pose with robot-v4-cartesiand --resolve-only, then scales the whole vector so no joint exceeds fraction × max_velocity × 0.75. The twist sets the direction; the joint ceilings usually set the speed. A step that would leave a joint's limits within one input lifetime is refused with joint_limit.

Errors: 400 cartesian_input_invalid, cartesian_resolver_unavailable, cartesian_resolver_invalid, cartesian_pose_stale, cartesian_axes_invalid, joint_limit, jacobian_gate, ik_no_solution, plus the joint jog errors.