Motion Planner & RRT generate wield trajectory after adding collision avoidance

[Tianyi20]

Dear authers of Moviet, today i use moveit to realize grasping the tommato soup around collision objects, the overview of scene is like this:

• Version of Moveit i use: Melodic, Moveit melodic, ROS melodic,
• Planner i use: RRTconnect, default IK

Moveit alwasy like to have a big circle to avoid collision before going to target, or rotate it's six axis unstoppably before closing to the target point. However, It does exist good planning result after three or four tries....

See youtube video here:
exmaple 1: https://youtu.be/wKySdyEv6sI

example 2:https://www.youtube.com/watch?v=7cIgWS2n0Js&feature=youtu.be

I persume it is the RRTconnect planner's problem inside the motion planning, maybe it is inevitble?

For the generation of collision scene, i simply create it in the Moveit and then import it. But it works, it is fine.

Could you see video, and give some recommendations?