{"action":"created","issue":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/182","labels_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/182/labels{/name}","comments_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/182/comments","events_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/182/events","html_url":"https://github.com/ros-industrial/universal_robot/issues/182","id":59958294,"number":182,"title":"Changing environment, adding end effector","user":{"login":"bluefish89","id":11333333,"avatar_url":"https://avatars.githubusercontent.com/u/11333333?v=3","gravatar_id":"","url":"https://api.github.com/users/bluefish89","html_url":"https://github.com/bluefish89","followers_url":"https://api.github.com/users/bluefish89/followers","following_url":"https://api.github.com/users/bluefish89/following{/other_user}","gists_url":"https://api.github.com/users/bluefish89/gists{/gist_id}","starred_url":"https://api.github.com/users/bluefish89/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/bluefish89/subscriptions","organizations_url":"https://api.github.com/users/bluefish89/orgs","repos_url":"https://api.github.com/users/bluefish89/repos","events_url":"https://api.github.com/users/bluefish89/events{/privacy}","received_events_url":"https://api.github.com/users/bluefish89/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":3,"created_at":"2015-03-05T14:26:08Z","updated_at":"2015-03-06T14:45:41Z","closed_at":null,"body":"Hi,\r\n\r\nI'm running an UR5 with your package and it's working fine. Thanks a lot for making this available!!\r\n\r\nNow I would like put an object in the system, setting the world coordinate origin to this new object and then putting the robot in reference to this world coordinate. For example putting an table in the system, setting the world origin at on foot of the table (x=0,y=0,z=0,rx=0°,ry=0°,rz=0°) and then put the robot at some pose in reference (for example x=100,y=100,z=100,rx=45°,ry=0°,rz=90° in Euler notation).\r\nWhen I put in goal poses  for the robot end effector afterwards, they should be in the same coordinate system then.\r\n\r\nIn addition to that point I want to add an end effector to the end of the arm of the UR5.\r\n\r\nBoth the object (table) and the end effector I have as an CAD-file (step or others).\r\n\r\nCould you tell me the steps I need to take to achieve this goal? Can I use the MoveIt Setup Assistant to do all that?\r\n\r\nBest regards\r\nBen"},"comment":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/comments/77569463","html_url":"https://github.com/ros-industrial/universal_robot/issues/182#issuecomment-77569463","issue_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/182","id":77569463,"user":{"login":"ipa-fxm","id":508006,"avatar_url":"https://avatars.githubusercontent.com/u/508006?v=3","gravatar_id":"","url":"https://api.github.com/users/ipa-fxm","html_url":"https://github.com/ipa-fxm","followers_url":"https://api.github.com/users/ipa-fxm/followers","following_url":"https://api.github.com/users/ipa-fxm/following{/other_user}","gists_url":"https://api.github.com/users/ipa-fxm/gists{/gist_id}","starred_url":"https://api.github.com/users/ipa-fxm/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipa-fxm/subscriptions","organizations_url":"https://api.github.com/users/ipa-fxm/orgs","repos_url":"https://api.github.com/users/ipa-fxm/repos","events_url":"https://api.github.com/users/ipa-fxm/events{/privacy}","received_events_url":"https://api.github.com/users/ipa-fxm/received_events","type":"User","site_admin":false},"created_at":"2015-03-06T14:45:41Z","updated_at":"2015-03-06T14:45:41Z","body":"You definitely should create a new MoveIt! configuration package as MoveIt! configuration packages are created for a particular setup (i.e. URDF). By adding a table and/or endeffector, you are changing the setup! Of course you can use the MoveIt! SetupAssistant to create the configuration package.\r\n\r\nIn URDF you cannot dynamically change e.g. the size of a table...\r\nIn case the table is just an obstacle that should be considered for motion planning, you could use MoveIt!'s planning_scene_interface to spawn collision objects (and vary there dimension/position) during runtime by simply publishing to ```/colision_object``` topic."}}