Temporary remove collision check on MoveIt

asked 2023-02-08 02:21:13 -0600

bach gravatar image

updated 2023-02-08 02:21:51 -0600

Hi,

I want to perform a collaborative manipulation task with two robotic arm. At a certain moment of the pipeline, one robot have to "touch" the other robot with its end effector. Thus I have to temporary disable collisions and then restore them.

How is it possible?

Currently I use ROS Melodic and MoveIt with Python API.

Thank you!

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Comments

Quick comment: look into editing/updating/altering the ACM (== "allowed collision matrix").

gvdhoorn gravatar image gvdhoorn  ( 2023-02-11 03:10:32 -0600 )edit

Thank you! Unfortunately I rely on Python API that does not give access to the ACM apparently. I temporarily solved by disabling the collision from the SDRF and carefully checking that there is no danger in executing the motion.

bach gravatar image bach  ( 2023-03-06 05:12:57 -0600 )edit
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