The Inverse kinematics with constraints awareness allows to specify contacts between any two objects with the OrderedCollisionOperation messages. I tried this on the PR2 with the first object being "right_arm" and the second object one that I added before. However, the IK seems to be politely and silently ignoring this bit of the message. How can I allow contacts with known objects? How can I visualize the added objects in RVIZ to debug?
P.S. A similar question is here but the answer is: use a non-collision aware IK!
Lorenzo