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Fix ACM no-collision reasons
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@rhaschke
rhaschke committed Mar 15, 2022
1 parent e7a0f47 commit c90c797
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Showing 2 changed files with 29 additions and 39 deletions.
27 changes: 9 additions & 18 deletions config/arm.xacro
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Expand Up @@ -37,24 +37,15 @@
<!-- Enable (environmental) collisions of ${link}_sc -->
<disable_default_collisions link="${link}_sc" />
<!-- Disable collisions of link with any other arm link, as these are handled by the "sc" links -->
<disable_collisions link1="${link}" link2="panda_link0" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link1" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link2" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link3" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link4" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link5" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link6" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link7" reason="Default" />
<disable_collisions link1="${link}" link2="panda_link8" reason="Default" />
<disable_collisions link1="${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" />
<disable_collisions link1="${link}" link2="panda_link0" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link1" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link2" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link3" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link4" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link5" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link6" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link7" reason="Never" />
<disable_collisions link1="${link}" link2="panda_link8" reason="Never" />
</xacro:macro>
<xacro:collision link="panda_link0"/>
<enable_collisions link1="panda_link0_sc" link2="panda_link5_sc" />
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41 changes: 20 additions & 21 deletions config/hand.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -3,17 +3,16 @@
<xacro:macro name="finger_collisions" params="finger">
<!-- Disable all self-collisions between finger and arm links,
as these are already covered by the coarser hand collision model -->
<disable_collisions link1="${finger}" link2="panda_link0" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_link1" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_link2" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_link3" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_link4" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_link5" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_link6" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_link7" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_link8" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_hand" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_hand_sc" reason="Default" />
<disable_collisions link1="${finger}" link2="panda_link0" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link1" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link2" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link3" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link4" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link5" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link6" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link7" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_link8" reason="Never" />
<disable_collisions link1="${finger}" link2="panda_hand" reason="Never" />
</xacro:macro>
<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-->
Expand Down Expand Up @@ -45,18 +44,18 @@
<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" />
<disable_collisions link1="panda_hand" link2="panda_link2" />
<disable_collisions link1="panda_hand" link2="panda_link3" />
<disable_collisions link1="panda_hand" link2="panda_link4" />
<disable_collisions link1="panda_hand" link2="panda_link5" />
<disable_collisions link1="panda_hand" link2="panda_link6" />
<disable_collisions link1="panda_hand" link2="panda_link7" />
<disable_collisions link1="panda_hand" link2="panda_link8" />
<disable_collisions link1="panda_hand" link2="panda_link0" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link1" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link2" reason="Never" />
<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="Never" />
<disable_collisions link1="panda_hand" link2="panda_link6" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link7" reason="Never" />
<disable_collisions link1="panda_hand" link2="panda_link8" reason="Never" />

<xacro:finger_collisions finger="panda_leftfinger" />
<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>
</robot>

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