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Commit c90c7978 authored by Robert Haschke's avatar Robert Haschke
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Fix ACM no-collision reasons

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config/arm.xacro
+ 9
− 18
View file @ c90c7978
...@@ -37,24 +37,15 @@ ...@@ -37,24 +37,15 @@
<!-- Enable (environmental) collisions of ${link}_sc --> <!-- Enable (environmental) collisions of ${link}_sc -->
<disable_default_collisions link="${link}_sc" /> <disable_default_collisions link="${link}_sc" />
<!-- Disable collisions of link with any other arm link, as these are handled by the "sc" links --> <!-- Disable collisions of link with any other arm link, as these are handled by the "sc" links -->
<disable_collisions link1="${link}" link2="panda_link0" reason="Default" /> <disable_collisions link1="${link}" link2="panda_link0" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link1" reason="Default" /> <disable_collisions link1="${link}" link2="panda_link1" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link2" reason="Default" /> <disable_collisions link1="${link}" link2="panda_link2" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link3" reason="Default" /> <disable_collisions link1="${link}" link2="panda_link3" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link4" reason="Default" /> <disable_collisions link1="${link}" link2="panda_link4" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link5" reason="Default" /> <disable_collisions link1="${link}" link2="panda_link5" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link6" reason="Default" /> <disable_collisions link1="${link}" link2="panda_link6" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link7" reason="Default" /> <disable_collisions link1="${link}" link2="panda_link7" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link8" reason="Default" /> <disable_collisions link1="${link}" link2="panda_link8" reason="Never" />
<disable_collisions link1="${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" />
</xacro:macro> </xacro:macro>
<xacro:collision link="panda_link0"/> <xacro:collision link="panda_link0"/>
<enable_collisions link1="panda_link0_sc" link2="panda_link5_sc" /> <enable_collisions link1="panda_link0_sc" link2="panda_link5_sc" />
......
config/hand.xacro
+ 20
− 21
View file @ c90c7978
...@@ -3,17 +3,16 @@ ...@@ -3,17 +3,16 @@
<xacro:macro name="finger_collisions" params="finger"> <xacro:macro name="finger_collisions" params="finger">
<!-- Disable all self-collisions between finger and arm links, <!-- Disable all self-collisions between finger and arm links,
as these are already covered by the coarser hand collision model --> 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_link0" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link1" reason="Default" /> <disable_collisions link1="${finger}" link2="panda_link1" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link2" reason="Default" /> <disable_collisions link1="${finger}" link2="panda_link2" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link3" reason="Default" /> <disable_collisions link1="${finger}" link2="panda_link3" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link4" reason="Default" /> <disable_collisions link1="${finger}" link2="panda_link4" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link5" reason="Default" /> <disable_collisions link1="${finger}" link2="panda_link5" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link6" reason="Default" /> <disable_collisions link1="${finger}" link2="panda_link6" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link7" reason="Default" /> <disable_collisions link1="${finger}" link2="panda_link7" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link8" reason="Default" /> <disable_collisions link1="${finger}" link2="panda_link8" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_hand" reason="Default" /> <disable_collisions link1="${finger}" link2="panda_hand" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_hand_sc" reason="Default" />
</xacro:macro> </xacro:macro>
<xacro:macro name="hand"> <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--> <!--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 @@ ...@@ -45,18 +44,18 @@
<enable_collisions link1="panda_hand_sc" link2="panda_link2_sc" /> <enable_collisions link1="panda_hand_sc" link2="panda_link2_sc" />
<enable_collisions link1="panda_hand_sc" link2="panda_link3_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 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_link0" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link1" /> <disable_collisions link1="panda_hand" link2="panda_link1" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link2" /> <disable_collisions link1="panda_hand" link2="panda_link2" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link3" /> <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link4" /> <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link5" /> <disable_collisions link1="panda_hand" link2="panda_link5" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link6" /> <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link7" /> <disable_collisions link1="panda_hand" link2="panda_link7" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link8" /> <disable_collisions link1="panda_hand" link2="panda_link8" reason="Never" />
<xacro:finger_collisions finger="panda_leftfinger" /> <xacro:finger_collisions finger="panda_leftfinger" />
<xacro:finger_collisions finger="panda_rightfinger" /> <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> </xacro:macro>
</robot> </robot>
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