attach collision objects when planning motion #5
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Tested and works for me! Should maybe detach the objects after planning? |
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Hello, this PR is a workaround for #3.
Since the geometry information in attached_collision_objects is not in world frame but is with respect to local frame which the object is attached to,
I passed the argument "world_objects_pose_offset=ee_pose".
I'm not sure this is a good workaround but this patch works for me.
Hope this help.