diff --git a/config/arm.xacro b/config/arm.xacro index f6827f1317b6863cdfb5dfaf91fd2f10376e1ffd..7a07faf3aefbf4436082b5b8bf5e2ff392b1b0d0 100644 --- a/config/arm.xacro +++ b/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" /> diff --git a/config/hand.xacro b/config/hand.xacro index 3f1e608adfe2e5a71d0a24c1b2c20f0dbb32fcff..cd85940e5d6f06626936d75d6002df890cf57e29 100644 --- a/config/hand.xacro +++ b/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" />