when I use descartes to move a specf cartesian path ,I found that the robot trajectory will cause collision to the environment

[dbdxnuliba]

I has list part of the code of application ：

int main(int argc,char** argv)
{
ros::init(argc,argv,"plan_and_run");
ros::AsyncSpinner spinner(2);
spinner.start();
moveit::planning_interface::PlanningSceneInterface scene;

// creating application
plan_and_run::DemoApplication application;

// loading parameters
application.loadParameters();
application.loadEnv(scene);

// initializing ros components
application.initRos();

// initializing descartes
application.initDescartes();

// moving to home position
application.moveHome();

// generating trajectory
plan_and_run::DescartesTrajectory traj;
application.generateTrajectory(traj);

// planning robot path
plan_and_run::DescartesTrajectory output_path;
application.planPath(traj,output_path);

// running robot path
application.runPath(output_path);

// exiting ros node
spinner.stop();

return 0;
}

void DemoApplication::initDescartes()
{
robot_model_ptr_.reset(new ur3_demo_descartes::UR3RobotModel());

// //Enable collision checking
robot_model_ptr_->setCheckCollisions(true);

if(robot_model_ptr_->initialize(ROBOT_DESCRIPTION_PARAM,
config_.group_name,
config_.world_frame,
config_.tip_link))
{
ROS_INFO_STREAM("Descartes Robot Model initialized");
}
else
{
ROS_ERROR_STREAM("Failed to initialize Robot Model");
exit(-1);
}

bool succeeded = planner_.initialize(robot_model_ptr_);
if(succeeded)
{
ROS_INFO_STREAM("Descartes Dense Planner initialized");
}
else
{
ROS_ERROR_STREAM("Failed to initialize Dense Planner");
exit(-1);
}

ROS_INFO_STREAM("Task '"<<FUNCTION<<"' completed");
}

}

void DemoApplication::loadEnv(moveit::planning_interface::PlanningSceneInterface& scene)
{
ros::NodeHandle pnh("~");

moveit::planning_interface::MoveGroupInterface move_group(config_.group_name);

std::vector<moveit_msgs::CollisionObject> objects;
 double high = 0.1;

moveit_msgs::CollisionObject obj;
obj.operation = obj.ADD;
obj.id = "box";
std::string frame_id = move_group.getPlanningFrame();
shape_msgs::SolidPrimitive shape;
shape.type = shape.BOX;
shape.dimensions.push_back(0.3);
shape.dimensions.push_back(0.3);
shape.dimensions.push_back(high);
obj.primitives.push_back(shape);
geometry_msgs::Pose pose;
pose.position.x = 0.3;
pose.position.y = 0;

//pose.position.z = -high / 2.0;
pose.position.z = 0.2;

tf::Quaternion quat;
quat.setRPY(deg2rad(0), deg2rad(0), deg2rad(0));
pose.orientation.x = quat.x();
pose.orientation.y = quat.y();
pose.orientation.z = quat.z();
pose.orientation.w = quat.w();
obj.primitive_poses.push_back(pose);

objects.push_back(obj);

std::vector<moveit_msgs::ObjectColor> colors;
moveit_msgs::ObjectColor color;
color.id = "box";
// [0,255] int, float32 [0, 1]
color.color.r = 0;
color.color.g = 255 / 255.0;
color.color.b = 0;
color.color.a = 1;
colors.push_back(color);

scene.applyCollisionObjects(objects, colors);

ROS_INFO_STREAM("Task '"<<FUNCTION<<"' completed");

}

[dbdxnuliba]

I sincerely look forward to your reply