Hi,<br><br>I&#39;m working on an project of controlling PR2 to grasp objects. I&#39;m new to ROS and got several stupid questions,<br><br>1) after grasping, when I use planner to move the arm, it always returned the state is in collision. I felt that I probably should attach the object to the robot to avoid obstacle detection for it. But I don&#39;t know how. Is there any service or simple way to do this?<br>
<br>2) I read tutorials about moving one arm, but I&#39;m wondering if I can control two arms simultaneously so that they can move together?<br><br>Thanks!<br><br>Best,<br>Yun<br clear="all"><br>-- <br>Yun Jiang<br><br>Dept. Computer Science, <br>
School of Engineering,<br>Cornell University<br><br>