collision of gripper with table plane when planning and excuting
Hi all, I'm working on the grasping task in gazebo & moveit. The arm is the planning group. When I try to move the arm to grasp some object on a table, I found the gripper sometimes is in collision with the table plane.
Is the collision of gripper checked when planning the movement of arm? I thought the whole body of the robot will be checked during the planning.
BTW: Are the "pick" and "place" functions in move_group applicable to the gazebo simulation environment? These two functions require an input "object". But in gazebo I have no idea how to define the "object" to be passed into "pick" and "place".
it seems the reason of collision is that the upper surface of octomap is slightly lower than the table in gazebo...