Hi Adam,
You can tell move_arm to disable collisions between the object and the hand.
Look at http://www.ros.org/wiki/planning_environment/YAML%20configuration
and the 'retreat' function in grasp_executor_with_approach.cpp
(object_manipulator/src/grasp_execution).

Although if you just disable the collision and tell it to plan, it may
well just sweep the arm straight through the object.  That's why our
grasp pipeline uses approach and retreat positions.  We use move_arm
to get through free space to the approach position, then use
interpolated IK (collision-aware, but with collisions between the
object and the hand disabled) to plan straight-Cartesian-line
movements to get to the grasp.  Likewise, when we let go of an object,
we use interpolated IK to move away from the object before calling
move_arm to move through free space.

-Kaijen

On Mon, Aug 30, 2010 at 7:49 PM, Adam Leeper <aleeper@stanford.edu> wrote:
> Hi-
>
> Is there a way to tell the move_arm simple action client to not use a motion
> planner and/or just do straight up IK and filtering, or ignore collisions?
> The problem I'm running into is that when the arm is near an object, the
> "ompl_planning/plan_kinematic_path" that is used in the move_arm tutorial
> complains that it is in a collision state and can't move.
>
> Thanks,
> Adam
>
>
>
> Adam Leeper
> Stanford University
> aleeper@stanford.edu
> 719.358.3804
>
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