From d6218db73b2e48d55089f6579f27fc2a5b384df1 Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <budhiraja@laas.fr>
Date: Tue, 3 Jan 2017 20:23:50 +0100
Subject: [PATCH] [srdf] add wrist collision pair to disabled list. (always in
contact)
---
srdf/talos.srdf | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/srdf/talos.srdf b/srdf/talos.srdf
index 743357f..9f9651c 100644
--- a/srdf/talos.srdf
+++ b/srdf/talos.srdf
@@ -299,6 +299,7 @@ TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant.
<disable_collisions link1="arm_left_5_link" link2="gripper_left_inner_single_link" reason="Never" />
<disable_collisions link1="arm_left_5_link" link2="gripper_left_motor_double_link" reason="Never" />
<disable_collisions link1="arm_left_5_link" link2="gripper_left_motor_single_link" reason="Never" />
+ <disable_collisions link1="arm_left_5_link" link2="wrist_left_ft_link" reason="Never" />
<disable_collisions link1="arm_left_5_link" link2="wrist_left_ft_tool_link" reason="Never" />
<disable_collisions link1="arm_left_6_link" link2="arm_left_7_link" reason="Adjacent" />
<disable_collisions link1="arm_left_6_link" link2="arm_right_1_link" reason="Never" />
@@ -418,6 +419,7 @@ TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant.
<disable_collisions link1="arm_right_5_link" link2="gripper_right_inner_single_link" reason="Never" />
<disable_collisions link1="arm_right_5_link" link2="gripper_right_motor_double_link" reason="Never" />
<disable_collisions link1="arm_right_5_link" link2="gripper_right_motor_single_link" reason="Never" />
+ <disable_collisions link1="arm_right_5_link" link2="wrist_right_ft_link" reason="Never" />
<disable_collisions link1="arm_right_5_link" link2="wrist_right_ft_tool_link" reason="Never" />
<disable_collisions link1="arm_right_6_link" link2="arm_right_7_link" reason="Adjacent" />
<disable_collisions link1="arm_right_6_link" link2="gripper_right_base_link" reason="Never" />
@@ -641,4 +643,4 @@ TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant.
<disable_collisions link1="torso_1_link" link2="torso_2_link" reason="Adjacent" />
<disable_collisions link1="wrist_left_ft_link" link2="wrist_left_ft_tool_link" reason="Adjacent" />
<disable_collisions link1="wrist_right_ft_link" link2="wrist_right_ft_tool_link" reason="Adjacent" />
-</robot>
\ No newline at end of file
+</robot>
--
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