Unable to set a different default pose for collision checks in the MoveItSetupAssistant

[firesurfer]

Description

I have a system where the enforced default pose of all joints on 0.0 has multiple self collisions. These collisions are therefore falsely disabled.

I could not find a way to change the default pose.

Your environment

• ROS Distro: Iron
• OS Version: Ubuntu 22.04
• Binary
• 2.8.0

Expected behaviour

From the description in the "Robot Poses" tab

I would expect the the setup assistant to use the first listed pose as default pose for the collision check. Apparently that is not the case.

EDIT: I just did a bit of research in the code: https://github.com/ros-planning/moveit2/blob/df78880a0230dbcf0ad06833d91f2c3d70d9bec3/moveit_setup_assistant/moveit_setup_srdf_plugins/src/compute_default_collisions.cpp#L447C58-L448C73

If I the intended behavior is as described in the UI then this line should do something like:

a) Checking if there any poses defined for the joint group. b) If yes -> Take the first one If no -> Call setToDefaultValues() as it is done at the moment.