So now, we're getting real-time data from the robot's environment. Do you think that this will affect the motion plans that are calculated in any way? Let's do the following experiment in order to understand that!

First of all, we will launch the MoveIt RViz environment with perception. Next, in the motion screen, we will select the Start pose that we have created in the previous section, and plan a trajectory to go there, as shown in the following screenshot:

Subsequently, we will remove the object from the simulation by right-clicking on it, selecting the Delete option, and then planning a trajectory to the start position again. Later, check if there are any differences from the previous trajectory.

That's right! The calculated motion plans will be different, depending on how the planning scene is. Makes sense, right?

We can keep on performing motion planning with the object in different positions and with different shapes, and see how it affects the trajectories that are planned. We can also execute these trajectories if we want.