collision of gripper with table plane when planning and excuting

asked 2020-06-30 09:41:56 -0500

xibeisiber gravatar image

updated 2020-07-02 00:42:32 -0500

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".

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it seems the reason of collision is that the upper surface of octomap is slightly lower than the table in gazebo...

xibeisiber gravatar image xibeisiber  ( 2020-07-02 04:46:14 -0500 )edit