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>P.S. A similar question is <a href="http://answers.ros.org/question/584/allow-gripper-collision-on-the-pr-2">here</a> but the answer is: use a non-collision aware IK!</p>Lorenzo<br clear="all"><br>-- <br>
Lorenzo Riano, PhD<br>Research Associate<br>Intelligent Systems Research Centre<br>University of Ulster<br>Magee campus<br>Londonderry<br>BT48 7JL<br><br>phone: +44 (0)28 71375187<br>email: <a href="mailto:l.riano@ulster.ac.uk" target="_blank">l.riano@ulster.ac.uk</a>, <a href="mailto:lorenzo.riano@gmail.com" target="_blank">lorenzo.riano@gmail.com</a><br>
skype: lorenzo.riano<br><br>Webpage: <a href="http://isrc.ulster.ac.uk/Staff/LRiano/Contact.html" target="_blank">http://isrc.ulster.ac.uk/Staff/LRiano/Contact.html</a><br>