From c90c79783dfed00cb80ed87520ecf9b0ef6bb49f Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Tue, 15 Mar 2022 18:20:47 +0100
Subject: [PATCH] Fix ACM no-collision reasons
---
config/arm.xacro | 27 +++++++++------------------
config/hand.xacro | 41 ++++++++++++++++++++---------------------
2 files changed, 29 insertions(+), 39 deletions(-)
diff --git a/config/arm.xacro b/config/arm.xacro
index 7a07faf..f5be8b4 100644
--- a/config/arm.xacro
+++ b/config/arm.xacro
@@ -37,24 +37,15 @@
<!-- Enable (environmental) collisions of ${link}_sc -->
<disable_default_collisions link="${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" />
- <disable_collisions link1="${link}" link2="panda_link2" reason="Default" />
- <disable_collisions link1="${link}" link2="panda_link3" reason="Default" />
- <disable_collisions link1="${link}" link2="panda_link4" reason="Default" />
- <disable_collisions link1="${link}" link2="panda_link5" reason="Default" />
- <disable_collisions link1="${link}" link2="panda_link6" reason="Default" />
- <disable_collisions link1="${link}" link2="panda_link7" reason="Default" />
- <disable_collisions link1="${link}" link2="panda_link8" reason="Default" />
- <disable_collisions link1="${link}_sc" link2="panda_link0" reason="Default" />
- <disable_collisions link1="${link}_sc" link2="panda_link1" reason="Default" />
- <disable_collisions link1="${link}_sc" link2="panda_link2" reason="Default" />
- <disable_collisions link1="${link}_sc" link2="panda_link3" reason="Default" />
- <disable_collisions link1="${link}_sc" link2="panda_link4" reason="Default" />
- <disable_collisions link1="${link}_sc" link2="panda_link5" reason="Default" />
- <disable_collisions link1="${link}_sc" link2="panda_link6" reason="Default" />
- <disable_collisions link1="${link}_sc" link2="panda_link7" reason="Default" />
- <disable_collisions link1="${link}_sc" link2="panda_link8" reason="Default" />
+ <disable_collisions link1="${link}" link2="panda_link0" reason="Never" />
+ <disable_collisions link1="${link}" link2="panda_link1" reason="Never" />
+ <disable_collisions link1="${link}" link2="panda_link2" reason="Never" />
+ <disable_collisions link1="${link}" link2="panda_link3" reason="Never" />
+ <disable_collisions link1="${link}" link2="panda_link4" reason="Never" />
+ <disable_collisions link1="${link}" link2="panda_link5" reason="Never" />
+ <disable_collisions link1="${link}" link2="panda_link6" reason="Never" />
+ <disable_collisions link1="${link}" link2="panda_link7" reason="Never" />
+ <disable_collisions link1="${link}" link2="panda_link8" reason="Never" />
</xacro:macro>
<xacro:collision link="panda_link0"/>
<enable_collisions link1="panda_link0_sc" link2="panda_link5_sc" />
diff --git a/config/hand.xacro b/config/hand.xacro
index efd491a..1bea787 100644
--- a/config/hand.xacro
+++ b/config/hand.xacro
@@ -3,17 +3,16 @@
<xacro:macro name="finger_collisions" params="finger">
<!-- Disable all self-collisions between finger and arm links,
as these are already covered by the coarser hand collision model -->
- <disable_collisions link1="${finger}" link2="panda_link0" reason="Default" />
- <disable_collisions link1="${finger}" link2="panda_link1" reason="Default" />
- <disable_collisions link1="${finger}" link2="panda_link2" reason="Default" />
- <disable_collisions link1="${finger}" link2="panda_link3" reason="Default" />
- <disable_collisions link1="${finger}" link2="panda_link4" reason="Default" />
- <disable_collisions link1="${finger}" link2="panda_link5" reason="Default" />
- <disable_collisions link1="${finger}" link2="panda_link6" reason="Default" />
- <disable_collisions link1="${finger}" link2="panda_link7" reason="Default" />
- <disable_collisions link1="${finger}" link2="panda_link8" reason="Default" />
- <disable_collisions link1="${finger}" link2="panda_hand" reason="Default" />
- <disable_collisions link1="${finger}" link2="panda_hand_sc" reason="Default" />
+ <disable_collisions link1="${finger}" link2="panda_link0" reason="Never" />
+ <disable_collisions link1="${finger}" link2="panda_link1" reason="Never" />
+ <disable_collisions link1="${finger}" link2="panda_link2" reason="Never" />
+ <disable_collisions link1="${finger}" link2="panda_link3" reason="Never" />
+ <disable_collisions link1="${finger}" link2="panda_link4" reason="Never" />
+ <disable_collisions link1="${finger}" link2="panda_link5" reason="Never" />
+ <disable_collisions link1="${finger}" link2="panda_link6" reason="Never" />
+ <disable_collisions link1="${finger}" link2="panda_link7" reason="Never" />
+ <disable_collisions link1="${finger}" link2="panda_link8" reason="Never" />
+ <disable_collisions link1="${finger}" link2="panda_hand" reason="Never" />
</xacro:macro>
<xacro:macro name="hand">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
@@ -45,18 +44,18 @@
<enable_collisions link1="panda_hand_sc" link2="panda_link2_sc" />
<enable_collisions link1="panda_hand_sc" link2="panda_link3_sc" />
<!-- Disable collision of hand with all arm links. These are handled by the *_sc links -->
- <disable_collisions link1="panda_hand" link2="panda_link0" />
- <disable_collisions link1="panda_hand" link2="panda_link1" />
- <disable_collisions link1="panda_hand" link2="panda_link2" />
- <disable_collisions link1="panda_hand" link2="panda_link3" />
- <disable_collisions link1="panda_hand" link2="panda_link4" />
- <disable_collisions link1="panda_hand" link2="panda_link5" />
- <disable_collisions link1="panda_hand" link2="panda_link6" />
- <disable_collisions link1="panda_hand" link2="panda_link7" />
- <disable_collisions link1="panda_hand" link2="panda_link8" />
+ <disable_collisions link1="panda_hand" link2="panda_link0" reason="Never" />
+ <disable_collisions link1="panda_hand" link2="panda_link1" reason="Never" />
+ <disable_collisions link1="panda_hand" link2="panda_link2" reason="Never" />
+ <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never" />
+ <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never" />
+ <disable_collisions link1="panda_hand" link2="panda_link5" reason="Never" />
+ <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never" />
+ <disable_collisions link1="panda_hand" link2="panda_link7" reason="Never" />
+ <disable_collisions link1="panda_hand" link2="panda_link8" reason="Never" />
<xacro:finger_collisions finger="panda_leftfinger" />
<xacro:finger_collisions finger="panda_rightfinger" />
- <disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Default" />
+ <disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Never" />
</xacro:macro>
</robot>
--
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