Hi I am new to moveit and trying to implement a pick and place operation from multiple parts in a bin. In this scenario lets assume we have multiple parts in a bin that are spawned using spawnentity function from gazeboros. I want to pick one part from the bin and needs the moveit planner to plan a path to pick that one part without disturbing other parts in the bin. Since I spawned the parts using spawnentity form gazeboros the parts are not being considered as collision bodies and end effector is planning through them. Can someone suggest a way to give these objects as collision objects for moveit planner. Thanks in advance for your help.