Moves the tool a bounded distance along one axis of the base or tool frame, in a straight line, and returns when done.

The resolver solves IK along the line at 1 mm or 0.25° spacing and checks each waypoint against joint limits and the singularity gate. OLP then times the path with a smooth (quintic) progress clock, so that no joint exceeds fraction × max_velocity × 0.75, reduced further near a singularity, or fraction × its acceleration limit. It sends the result as one trajectory. An accepted move finishes even if the HTTP client disconnects; Stop still cancels it.

Errors: cartesian_input_invalid, cartesian_reach, ik_no_solution, joint_limit, cartesian_pose_stale, cartesian_resolver_invalid, joint_move_too_many_points, plus the joint move errors.