Configurable keep-away space

[madhuareti]

Is there a way to configure an XYZ space to be avoided? I’m not referring to setting joint limits/safety boundary, but rather a background function that actively avoids or reroutes around a specific volume using individually defined min and max values for the designated space.

[penglongxiang]

Hi, we do not have this function built internally for now, you may use ROS + Moveit planner and setup Moveit planning scene to realize this feature.