Difference between adding object and attaching it using MoveIt ?
Hello, I am following the MoveIT Python tutorial
According to the tutorial, we can add an object and attach it later. However I did not understand what is the difference between adding and attaching an object.
For example; I added an object firstly as I showed in the following picture. MoveIt detects the collision and I cannot close the gripper.
If I add the object and attach it (to the world frame ), robot exhibits the same behavior.
So what is the difference between adding object and attaching it ?
Thanks