Hi, guys!

I added a collision object in RVIZ and then I used RRTconnect to plan a trajectory for a dual-arm robot.

But it often failed when I tried to move one arm from one side of the collision object to the other side.

It seems that the planner found an obstacle in the trajectory and failed. From what I have known about RRTconnect, it should find a trajectory without collision.but in MoveIt! it seems that OMPL first finds a trajectory and then check if it exists obstacles in the planned trajectory.That's different from RRTconnect.Why is that ? I wonder how to plan a collision-free trajectory.

thanks!

gutq