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1 | initial version |
But now my touch_links for the previously attached object are not carried over and the picked object shows to be in collision with the end effector for every waypoint...
The touch links are part of the robot state. If you initialize your aux_robot_state_
with the current state of the planning scene, I don't see why the touch_links
should not be there.
How should I be doing this?
your second approach seems feasible to me.