Arm striked the ground while using moveit
I am using xarm6 (https://github.com/xArm-Developer/xar...) when I am using moveit to plan a random path sometimes it reaches below the base (ground) and plans the path there, hence strikes the ground when execute on real robot. Please advice what should I do to avoid it ?
Two questions:
then the answer is most likely: "no, there is no ground plane modelled".
In that case MoveIt did exactly as I would expect: it doesn't know anything about your scene, so no "ground" or ground plane. It only knows about your robot, hanging there in completely empty space. It will assume it's free to move the robot through all that empty space. Including the space occupied by the ground or table your robot is standing on.
Hi ! Thank you for your response, any suggestions in how can I fix it without creating a new moveit package?