[ros-users] Allowing contacts with inverse IK

Lorenzo Riano lorenzo.riano at gmail.com
Mon May 30 08:40:30 UTC 2011

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
the answer is: use a non-collision aware IK!

Lorenzo Riano, PhD
Research Associate
Intelligent Systems Research Centre
University of Ulster
Magee campus
BT48 7JL

phone: +44 (0)28 71375187
email: l.riano at ulster.ac.uk, lorenzo.riano at gmail.com
skype: lorenzo.riano

Webpage: http://isrc.ulster.ac.uk/Staff/LRiano/Contact.html
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