From c3652a10ee26b1ad9d45afd68f29b1b8fc60a554 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Thu, 1 Sep 2022 13:35:16 +0200
Subject: [PATCH] Drop link8 from ACM
as this link doesn't have any collision model anymore
---
config/arm.xacro | 7 ++-----
config/hand.xacro | 4 ++--
2 files changed, 4 insertions(+), 7 deletions(-)
diff --git a/config/arm.xacro b/config/arm.xacro
index ea345aa..fef366a 100644
--- a/config/arm.xacro
+++ b/config/arm.xacro
@@ -52,13 +52,11 @@
<xacro:macro name="configure_collisions" params="link enabled:=${[]}">
<!-- Disable collision checking between normal links, as these are handled by "sc" links -->
<xacro:property name="link_fmt" value="$(arg arm_id)_link{}" />
- <xacro:disable_collisions_for link="${link_fmt.format(link)}" others="${[link_fmt.format(i) for i in python.range(9)]}" />
+ <xacro:disable_collisions_for link="${link_fmt.format(link)}" others="${[link_fmt.format(i) for i in python.range(8)]}" />
<!-- Disable all collision checking for ${link}_sc -->
<xacro:property name="link_fmt" value="$(arg arm_id)_link{}_sc" />
- <xacro:if value="${link != 8}">
- <disable_default_collisions link="${link_fmt.format(link)}" />
- </xacro:if>
+ <disable_default_collisions link="${link_fmt.format(link)}" />
<!-- Re-enable collisions checking for selected links -->
<xacro:enable_collisions_for link="${link_fmt.format(link)}" others="${[link_fmt.format(i) for i in enabled]}" />
</xacro:macro>
@@ -72,5 +70,4 @@
<xacro:configure_collisions link="5" />
<xacro:configure_collisions link="6" />
<xacro:configure_collisions link="7" />
- <xacro:configure_collisions link="8" />
</robot>
diff --git a/config/hand.xacro b/config/hand.xacro
index 8c78a14..47a06b6 100644
--- a/config/hand.xacro
+++ b/config/hand.xacro
@@ -31,9 +31,9 @@
<xacro:enable_collisions_for link="$(arg arm_id)_hand_sc" others="${[link_fmt.format(i) for i in [0,1,2,3]]}" />
<!-- Disable collision of hand link with all arm links. These are handled by the *_sc links -->
<xacro:property name="link_fmt" value="$(arg arm_id)_link{}" />
- <xacro:disable_collisions_for link="$(arg arm_id)_hand" others="${[link_fmt.format(i) for i in python.range(9)]}" />
+ <xacro:disable_collisions_for link="$(arg arm_id)_hand" others="${[link_fmt.format(i) for i in python.range(8)]}" />
<!-- Disable collision of fingers with all arm links -->
- <xacro:property name="others" value="${[link_fmt.format(i) for i in python.range(9)] + [xacro.arg('arm_id') + '_hand']}" />
+ <xacro:property name="others" value="${[link_fmt.format(i) for i in python.range(8)] + [xacro.arg('arm_id') + '_hand']}" />
<xacro:disable_collisions_for link="$(arg arm_id)_leftfinger" others="${list(others)}" />
<xacro:disable_collisions_for link="$(arg arm_id)_rightfinger" others="${list(others)}" />
<disable_collisions link1="$(arg arm_id)_leftfinger" link2="$(arg arm_id)_rightfinger" reason="Never" />
--
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