Revision history [back]

When you add aCollisionObject to the planning scene, it exists as a stationary object in the scene that the robot can collide with. When you attach a CollisionObject, it moves with the robot link that it is attached to.

In your case, you placed your object at a position where it collides with the robot. You could change the object's position, or allow collision with the robot gripper link. The latter is more useful if you want to grasp the object.