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### allow gripper collision on the PR-2

I want to allow the PR-2 gripper to collide with objects on a table. I am designing linear pushing motions. I am using motion_planning_msgs/CollisionOperation message in the MoveArmGoal message, but it does not seem to work.

Here are the message definitions. I use their example of object1 = "gripper" and object2 = COLLISION_SET_ALL. Any suggestion will be very helpful!

# between the gripper and all objects in the collision space

string object1 string object2 string COLLISION_SET_ALL="all" string COLLISION_SET_OBJECTS="objects" string COLLISION_SET_ATTACHED_OBJECTS="attached"

# The penetration distance to which collisions are allowed. This is 0.0 by default.

float64 penetration_distance

# Flag that determines whether collisions will be enabled or disabled for the pair of objects specified above

int32 operation int32 DISABLE=0 int32 ENABLE=1

 2 formatting tfoote 55852 ●118 ●463 ●491 http://www.ros.org/

### allow gripper collision on the PR-2

I want to allow the PR-2 gripper to collide with objects on a table. I am designing linear pushing motions. I am using motion_planning_msgs/CollisionOperation message in the MoveArmGoal message, but it does not seem to work.

Here are the message definitions. I use their example of object1 = "gripper" and object2 = COLLISION_SET_ALL. Any suggestion will be very helpful!

# # A definition of a collision operation

 operation # E.g. ("gripper",COLLISION_SET_ALL,ENABLE) will enable collisions
collisions # between the gripper and all objects in the collision spacespace string object1 string object2 string COLLISION_SET_ALL="all" string COLLISION_SET_OBJECTS="objects" string COLLISION_SET_ATTACHED_OBJECTS="attached"COLLISION_SET_ATTACHED_OBJECTS="attached" # The penetration distance to which collisions are allowed. This is 0.0 by default.default. float64 penetration_distance float64 penetration_distance # Flag that determines whether collisions will be enabled or disabled for the pair of objects specified above above int32 operation int32 DISABLE=0 int32 ENABLE=1ENABLE=1