Disable Collision that stops the xArm

[khuechuong]

Is there a way to disable the collision estop for a task then re enable it? I'm doing something similar to a sanding problem where the xArm has to make contact. The margin of error is thin so I want to disable it while it press and pull back. Then re-enable it.

[penglongxiang]

Please use the service "xarm/set_collision_sensitivity" to modify the collision sensitivity level. The checking range is from 1 to 5, from least sensitive to most sensitive, 3 is default level. To completely disable the collision check, set this sensitivity level to 0, please make a risk assessment before disabling the collision check.

Please note you have to set state to 0 again before any motion command after the sensitivity change.

[khuechuong]

@penglongxiang is there a way to set it before hand? I want to changing it 1 would work.

[penglongxiang]

You can do it with UFactory Studio (also available by accessing http://your_robot_ip:18333 in web browser), go to Settings(gear logo)->Motion->Parameters->Collision Detection->Sensitivity, choose your desired level then click "Save" button, then this configuration will be fixed even after system reboot.