From ccf7720d36d0df7f1c8db2d6911e18457bca073e Mon Sep 17 00:00:00 2001
From: Florian Walch <florian.walch@franka.de>
Date: Thu, 18 Oct 2018 14:00:34 +0200
Subject: [PATCH] Enable link5 collision checks
---
config/panda_arm.xacro | 1 -
config/panda_arm_hand.srdf.xacro | 1 -
2 files changed, 2 deletions(-)
diff --git a/config/panda_arm.xacro b/config/panda_arm.xacro
index 51c59c7..53ddcdf 100644
--- a/config/panda_arm.xacro
+++ b/config/panda_arm.xacro
@@ -41,7 +41,6 @@
<disable_collisions link1="panda_link4" link2="panda_link6" reason="Never" />
<disable_collisions link1="panda_link4" link2="panda_link7" reason="Never" />
<disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent" />
- <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default" />
<disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent" />
</xacro:macro>
</robot>
diff --git a/config/panda_arm_hand.srdf.xacro b/config/panda_arm_hand.srdf.xacro
index 82d3097..39de54f 100644
--- a/config/panda_arm_hand.srdf.xacro
+++ b/config/panda_arm_hand.srdf.xacro
@@ -32,7 +32,6 @@
<!--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. -->
<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="Default" />
<disable_collisions link1="panda_hand" link2="panda_link6" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link7" reason="Adjacent" />
<disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never" />
--
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