Removes the extra collision geometry between the fingers

frankaemika · Aug 18, 2021 · 36f601f · 36f601f
1 parent bfa952d
commit 36f601f
Show file tree

Hide file tree

Showing 2 changed files with 1 addition and 13 deletions.
diff --git a/franka_description/robots/hand.xacro b/franka_description/robots/hand.xacro
@@ -46,12 +46,6 @@
           <sphere radius="${0.02+safety_distance}"  />
         </geometry>
       </collision>
-      <collision>
-        <origin xyz="0 -0.015 0.0416" rpy="0 ${pi/2} ${pi/2}"/>
-        <geometry>
-          <cylinder radius="${0.02+safety_distance}" length="0.05" />
-        </geometry>
-      </collision>
     </link>
     <link name="${ns}_rightfinger">
       <visual>
@@ -66,12 +60,6 @@
           <sphere radius="${0.02+safety_distance}"  />
         </geometry>
       </collision>
-      <collision>
-        <origin xyz="0 0.015 0.0416" rpy="0 ${pi/2} ${pi/2}"/>
-        <geometry>
-          <cylinder radius="${0.02+safety_distance}" length="0.05" />
-        </geometry>
-      </collision>
    </link>
     <joint name="${ns}_finger_joint1" type="prismatic">
       <parent link="${ns}_hand"/>

diff --git a/franka_description/robots/panda_arm.urdf.xacro b/franka_description/robots/panda_arm.urdf.xacro
@@ -14,7 +14,7 @@
 
     <xacro:if value="$(arg hand)">
       <xacro:include filename="$(find franka_description)/robots/hand.xacro"/>
-      <xacro:hand ns="${arm_id}" rpy="0 0 ${-pi/4}" connected_to="${arm_id}_link8" safety_distance="0.0"/>
+      <xacro:hand ns="${arm_id}" rpy="0 0 ${-pi/4}" connected_to="${arm_id}_link8" safety_distance="0.03"/>
     </xacro:if>
   </xacro:unless>