group.move() weird pose of detached object

Hi!

I am currently working on a pick and place application, using move_group interface. After bringing the gripper around the collision object, i attach it to the end effector:

group.attachObject(collision_object.id);

Then picking it another place, i detach it:

group.detachObject(collision_object.id);

When i detach it, the box stays with one edge on the groud, one in the air. How could i fix this? Please help me, Thanks

Asked by TkrA on 2015-06-14 16:09:50 UTC

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Answers

the box stays exactly where you put it, ie there is no physics simulation in rviz. If you need that, have a look at gazebo

Asked by Simon Schmeisser on 2015-06-15 02:32:08 UTC

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there is no physics simulation in rviz

I'd put it even stronger: RViz is not a simulator. It's purely visualisation.

Asked by gvdhoorn on 2015-06-15 02:56:27 UTC

To be even more clear: Detach in moveit only states: "When the manipulator moves again the object won't be moved with it", attach is the opposite. Objects never move on their own.

Asked by dornhege on 2015-06-15 03:42:38 UTC