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[fetch_moveit_config] fix fetch.srdf to avoid self collision and warnings #162

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[fetch_moveit_config] fix fetch.srdf to avoid self collision and warnings #162

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41157e0
check base_link and upperarm_roll_link collision
knorth55 Oct 13, 2022
301580f
disable caster and base_link collision
knorth55 Oct 13, 2022
fd36e48
check estop and gripper collision
knorth55 Oct 13, 2022
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8 changes: 6 additions & 2 deletions fetch_moveit_config/config/fetch.srdf
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,11 @@
<disable_collisions link1="base_link" link2="shoulder_pan_link" reason="Never" />
<disable_collisions link1="base_link" link2="torso_fixed_link" reason="Adjacent" />
<disable_collisions link1="base_link" link2="torso_lift_link" reason="Adjacent" />
<disable_collisions link1="base_link" link2="upperarm_roll_link" reason="Never" />
<disable_collisions link1="base_link" link2="fl_caster_link" reason="Adjacent" />
<disable_collisions link1="base_link" link2="fr_caster_link" reason="Adjacent" />
<disable_collisions link1="base_link" link2="bl_caster_link" reason="Adjacent" />
<disable_collisions link1="base_link" link2="br_caster_link" reason="Adjacent" />
<!-- <disable_collisions link1="base_link" link2="upperarm_roll_link" reason="Never" /> -->
<disable_collisions link1="bellows_link" link2="bellows_link2" reason="Default" />
<disable_collisions link1="bellows_link" link2="elbow_flex_link" reason="Never" />
<disable_collisions link1="bellows_link" link2="estop_link" reason="Never" />
Expand Down Expand Up @@ -90,7 +94,7 @@
<disable_collisions link1="estop_link" link2="head_tilt_link" reason="Never" />
<disable_collisions link1="estop_link" link2="l_wheel_link" reason="Never" />
<disable_collisions link1="estop_link" link2="laser_link" reason="Never" />
<disable_collisions link1="estop_link" link2="r_gripper_finger_link" reason="Never" />
<!-- <disable_collisions link1="estop_link" link2="r_gripper_finger_link" reason="Never" /> -->
<disable_collisions link1="estop_link" link2="r_wheel_link" reason="Never" />
<disable_collisions link1="estop_link" link2="shoulder_lift_link" reason="Never" />
<disable_collisions link1="estop_link" link2="shoulder_pan_link" reason="Never" />
Expand Down