Hi-<br><br>Is there a way to tell the move_arm simple action client to not use a motion planner and/or just do straight up IK and filtering, or ignore collisions? The problem I&#39;m running into is that when the arm is near an object, the  <span class="line"><span class="String">&quot;ompl_planning/plan_kinematic_path</span></span>&quot; that is used in the move_arm tutorial complains that it is in a collision state and can&#39;t move.<br>
<br>Thanks,<br>Adam<br><br><br><br>Adam Leeper<br>Stanford University<br><a href="mailto:aleeper@stanford.edu">aleeper@stanford.edu</a><br>719.358.3804<br>