Moveit! How to do collision checking between the user-defined object during planning?

asked 2019-08-13 09:57:35 -0500

clownML1234 gravatar image

Hi guys,

Recently I use moveit! to do the motion planning. The task of the robot arm is to pick up an object and put it into a box. I can add both the object and the box to the world using C++ code


and I can also attach the object to the end effector of the robot arm.

But when I do the motion planning,the planner ignores the collision check between the object that the robot arm picked up and the box.

I have tried to add the object to the urdf file of the robot,It surely can work but it is obviously not a good idea.

So what should I do to make the planner do the collision checkinig between the object which the robot arm picked up and the other objects in the world?

edit retag flag offensive close merge delete


Does your robot collide properly with your box? Does the attached object collide with other objects and the robot itself?

fvd gravatar image fvd  ( 2020-03-02 05:22:18 -0500 )edit