Rename tag collision_default -> disable_default_collisions

config/arm.xacro

@@ -35,7 +35,7 @@
 
     <xacro:macro name="collision" params="link">
         <!-- Enable (environmental) collisions of ${link}_sc -->
-        <collision_default link="${link}_sc" allow="ALWAYS" />
+        <disable_default_collisions link="${link}_sc" />
         <!-- Disable collisions of link with any other arm link, as these are handled by the "sc" links -->
         <disable_collisions link1="${link}" link2="panda_link0" reason="Default" />
         <disable_collisions link1="${link}" link2="panda_link1" reason="Default" />

config/hand.xacro

@@ -39,7 +39,7 @@
         <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
         <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
         <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-        <collision_default link="panda_hand_sc" allow="ALWAYS" />
+        <disable_default_collisions link="panda_hand_sc" />
         <enable_collisions link1="panda_hand_sc" link2="panda_link0" />
         <enable_collisions link1="panda_hand_sc" link2="panda_link1" />
         <enable_collisions link1="panda_hand_sc" link2="panda_link2" />