I am using default IK planner (KDLplugin) for planning the path for ABB_IRB4600 robot using moveIt RViz plugin. When i import an object and make the robot movement to avoid that object by publishing current scene in RViz . The movements of the robot becomes very weired. Is there a way to refine the movements of the robot during collision avoidance of the object in the planning scene. I tried to incease the planning attempts and the planning time but haven't acheived any good result.
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