From e2d735364688b450aa628aad64eb3530d0422f43 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 14 Mar 2022 22:32:20 +0100
Subject: [PATCH] Fix collision pairs: hand_sc collides with link[0123]_sc
---
config/hand.xacro | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/config/hand.xacro b/config/hand.xacro
index cd85940..efd491a 100644
--- a/config/hand.xacro
+++ b/config/hand.xacro
@@ -40,10 +40,10 @@
<!--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. -->
<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" />
- <enable_collisions link1="panda_hand_sc" link2="panda_link3" />
+ <enable_collisions link1="panda_hand_sc" link2="panda_link0_sc" />
+ <enable_collisions link1="panda_hand_sc" link2="panda_link1_sc" />
+ <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" />
--
GitLab