From 6ce3955e0f4cbe051d6bf1305b7673e2aa5ba7a2 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 8 Nov 2021 22:38:58 +0100
Subject: [PATCH] Remove panda_hand_coarse from hand group
We don't want to consider the coarse model for any environmental interaction.
MoveIt Task Constructor uses the group to disable and re-enable collisions
when grasping resp. releasing an object.
---
config/hand.xacro | 1 -
1 file changed, 1 deletion(-)
diff --git a/config/hand.xacro b/config/hand.xacro
index 2101687..abae053 100644
--- a/config/hand.xacro
+++ b/config/hand.xacro
@@ -22,7 +22,6 @@
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="hand">
- <link name="panda_hand_coarse" />
<link name="panda_hand"/>
<link name="panda_leftfinger"/>
<link name="panda_rightfinger"/>
--
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