AllowCollisions

This state allows you to allow/disallow collisions between some part of the robot and its environment. Allowing and disallowing the collisions rely on MoveIt!, so only groups that are operated via MoveIt! will work.

You can for instance, allow the collision between the fingers of your robot hand, or allow the collision between an object of the scene and the gripper.

Outcomes

This state has two outcomes: success (green socket) and failure (red socket). If the configuration of the state is wrong, or that modification of the allowed collisions has failed, failure is returned. Return the other outcome if the operation is successful.

How to configure

Once dropped in the task editor, you should see two or three parameters appear in the state:

• group_name: Name of the MoveIt! group for which the collision checking should be changed. This slot will not appear if only one group is defined.

• allow: Boolean stating whether the collisions should be enabled or disabled. Please only use the values available in the associated dropdown widget.

• objects: Optional list of objects for which you want the the collision to be modified. If left empty all added objects will be considered

Example of use

You can find a concrete example of how to use this state, here.