Hi,
I'm already kind of familiar with RViz/MoveIt!. I have my robot model imported, have some scene objects imported and now I'm trying to store some scenes. Already have some scenes, but I would like to store a scene with only the scene objects and not the state of the robot at that time. The reason is because I also sometimes move the robot with an other method besides RViz/MoveIt!. When I want to load one of my stored scenes it also loads the state of the robot, which is not the same as the actual position of the robot. After trying to plan a trajectory this gives problems with controlling the robot, because the state that is loaded into RViz/MoveIt! doesn't correspond with the data that the sensors are actually giving.
So in short. Is it possible to save a scene without that the robot current state is also saved into that scene?
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