Getting info from failed MoveGroupCommander.plan()

asked 2016-12-13 01:34:20 -0500

alexpad gravatar image

Hello, I have one arm manipulator and i use MoveGroupCommander.plan() to plan it's trajectories. And if plan() doesn't make it - i want to know why. Is there a way to get some data like collision info (which objects were in collision most often while planning) out of planning request? I could use this info to move movable obstacle out of the way or to know that obstacles are not the case. (I looked through MoveIt API and it seems i have to do all the planning routing with my bare hands if i want this info) (All the code is in python for now, but C++ is fine too, if there's a way to achieve what i desire)

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