Jorge Nicho

It's not obvious to me either, I'll change the **if** logic to print more detail on the type of failure that took place.

I haven't exercised this feature of rviz, how do I reproduce it in this application?

The tolerance is applied relative to the tool point orientation, so it can still exceed that tolerance relative to a global reference frame's orientation

You can look into the sampling method for the cartesian point [here](https://github.com/ros-industrial-consortium/descartes/blob/065630c8711c71913503bc14069faca6aa9d30cc/descartes_trajectory/src/cart_trajectory_pt.cpp#L215) >> this will enable user create a tolerance frame with a tolerance relative to the given axis of...

Is this an issue that needs to be addressed in the IK fast solver?

I would look into the UR3RobotModel implementation and see if the [check_collisions_](https://github.com/ros-industrial-consortium/descartes/blob/26197a993a0eaabe7c207a881fe6bd06177ab5fd/descartes_core/include/descartes_core/robot_model.h#L118) flag is being honored

You may have to override the various [isValid](https://github.com/ros-industrial-consortium/descartes/blob/26197a993a0eaabe7c207a881fe6bd06177ab5fd/descartes_moveit/src/moveit_state_adapter.cpp#L290) methods to do the kind of collision checking that your application needs

@mlautman reading the comments in #230 I do agree with the original authors in their concerns about having a planning scene monitor which could change the state while planning is...

@mlautman I'm still hesitant on whether embedding the planning scene monitor into the planner is a viable approach. Would't it be sufficient to provide an accessor method that allows mutating...

> The collision checking as is only checks self collisions. In order to get collisions with attached bodies, world objects etc.. you need to use a monitored planning scene which...