From c95e8115a59a60d402b413e3834efae05931a3d0 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Sat, 4 Apr 2020 09:09:58 +0200
Subject: [PATCH] Increase clearance for grippers.
---
srdf/talos.srdf | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/srdf/talos.srdf b/srdf/talos.srdf
index a579ef3..86186d2 100644
--- a/srdf/talos.srdf
+++ b/srdf/talos.srdf
@@ -682,14 +682,14 @@ TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant.
<disable_collisions link1="wrist_right_ft_link" link2="wrist_right_ft_tool_link" reason="Adjacent" />
- <gripper name="left_gripper" clearance="0.03">
+ <gripper name="left_gripper" clearance="0.07">
<position> 0 0 -0.13 0.707106 0 0.707106 0</position>
<link name="gripper_left_base_link" />
<joint name="gripper_left_joint" />
<torque_constant value="48e-3" unit="N.m/A"/>
</gripper>
- <gripper name="right_gripper" clearance="0.03">
+ <gripper name="right_gripper" clearance="0.07">
<position> 0 0 -0.13 0 -0.707106 0 0.707106 </position>
<link name="gripper_right_base_link" />
<joint name="gripper_right_joint" />
--
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