faster way to disable and enable collision check between gripper and object

edit

I don't see a different way. One slight enhancement tho. In the post mentioned, the node waits 2 seconds. You can also write a function that checks the planning scene and makes sure your update got noted. I saw a snippet on the internet with something similar to this:

# Ensuring Collision Updates Are Received
def wait_till_updated(pl_scene, obj_name, attached, known, sleep_duration=0.5):
    """
    Wait until the planning scene was updated
    :param pl_scene: planning scene
    :param obj_name: name of the object to be updated
    :param attached: is the object now attached
    :param known: is the object now known
    :param sleep_duration: sleep between checks
    :return: success
    """
    start = rospy.get_time()
    seconds = rospy.get_time()
    timeout = 5
    while (seconds - start < timeout) and not rospy.is_shutdown():
        # Test if the object is in attached objects
        attached_objects = pl_scene.get_attached_objects([obj_name])
        is_attached = len(attached_objects.keys()) > 0
        rospy.logdebug("[wait_till_updated] Attached Objects: %s" % attached_objects.keys())

        # Test if the object is in the scene.
        # Note that attaching the box will remove it from known_objects
        is_known = obj_name in pl_scene.get_known_object_names()
        rospy.logdebug("[wait_till_updated] Known Objects: %s" %  
                       pl_scene.get_known_object_names())

        # Test if we are in the expected state
        if (attached == is_attached) and (known == is_known):
            return True

        # Sleep so that we give other threads time on the processor
        rospy.logdebug("[wait_till_updated] Waiting ...")
        rospy.sleep(sleep_duration)
        seconds = rospy.get_time()