I would say go for it. If your sink stops up, which I doubt, stop doing it.
Personally, I have never exprienced any problems with coffee grounds from the percolator or drip machine.
Used coffee grounds have already absorbed all the water they are going to, so I don't see how they could expand in your pipe when they are already expanded. Plus your disposer is shredding them and diluting them, even more, in a stream of moving water.
I have never previously heard anyone ever say anything about coffee grounds in a disposer before and have never read anything against them in any of the manufacturer's instruction manuals, at least the ones I have had. So this is a new one.
So be scientific. Try it.

In the rare chance, your pipe clogs up, unclog it. It was worth experimenting to find that there is something in your system that couldn't handle it.
If it does work, then you know and you won't have to worry anymore!
The one caveat. A lot of cheap plumbers and unknowing homeowners use one of those "disposal installation tailpipes", which allow you to install a disposer in one side of the sink, and discharge it directly into the tailpiple coming down from the other sink bowl.
This forces large volumes of waste laden water make an instant 90 degree turn in only half the diamaeter of a pipe. So naturally this is a clog point. I have lived in apartments plumbed this way. And a house I bought was also plumbed this way. It's not an uncommon way for a disposer to be installed because it's cheap and easy, not because it's right. Disposers often get the blame, instead of the plumber.
If you have this situation. Go to Home Depot or Lowes and for a few dollars more you can get an extra trap and some PVC line and run your disposer directly to the main drain pipe under the sink, not the tailpipe of the other sink bowl.
You will probably never experience a clog then.