UR5e with MoveIt object scene/collision avoidance

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Hi everyone,

I am using the robot for doing some tasks with a Python program using the IK of MoveIt.

But sometimes, even if the points he has to reach are not near the objects, the controller makes movements very large to reach the goal pose and as there are some objects in the real scene this entails to collision behaviours.

I am using the default setup of universal robots repo (calibration-devel branch of fmauch) and the ur_robot_driver (melodic branch) of Universal_Robots_ROS_Driver.

Is there a way to avoid this large movements of the controller or moveit or to include/specify this scene objects in moveIt in such a way to avoid this collisions??

Thank you very much!! I would appreciate a lot your help!!!