Big objects collide with robot.

[alex07zzz]

Objects are too big, sometimes they collide with the robot and the conveyor belt.
Shall we re-scale them? Smaller objects will also reduce object recognition time.

[jrgnicho]

Can you show a picture?
Scaling them down may degrade the recognition results.

[jrgnicho]

As observed in offline, there are times when the part collides with the rail as the robot moves it from the pick position to the bin. The suggested fix is to add more intermediate moves and avoid moving the arm and rail joints simultaneously. Alternatively, attaching the object to the start state prior to planning should also fix this.