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Hi,

I'm doing the same thing with a arm robot. When I add a object between the start pose and the end pose, it's works correctly. The arm avoids the object. Add you the object during movement or before the trajectory calculation ? Me, my problem is when I add a object during the movement because the trajectory is already calculated y sent. So I check the state validity to know if there is collision but it's the same problem, I think the scene is not updated. I can't see mi object in Rviz during the movement.

How it's possible to actualize the scene ?