From 78d592a45eed2fa126e48d5e38fca6491eb561c9 Mon Sep 17 00:00:00 2001
From: Florian Walch <florian.walch@franka.de>
Date: Fri, 26 Jul 2019 15:18:19 +0200
Subject: [PATCH 1/2] Update SRDF for collision model

franka_description got updated with a more coarse collision model [1] matching the internal
self-collision detection, so the SRDF needs to be adapted.

Closes #18. Resolves ros-planning/moveit#1210, resolves frankaemika/franka_ros#39.

[1] https://github.com/frankaemika/franka_ros/commit/e52c03a23aa18c6532e40f9bf4927dedfc0c596a
---
 config/panda_arm.xacro           | 7 +++----
 config/panda_arm_hand.srdf.xacro | 8 ++++----
 2 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/config/panda_arm.xacro b/config/panda_arm.xacro
index 092b68f..5673c76 100644
--- a/config/panda_arm.xacro
+++ b/config/panda_arm.xacro
@@ -28,19 +28,18 @@
     <disable_collisions link1="panda_link0" link2="panda_link3" reason="Never" />
     <disable_collisions link1="panda_link0" link2="panda_link4" reason="Never" />
     <disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent" />
-    <disable_collisions link1="panda_link1" link2="panda_link3" reason="Never" />
+    <disable_collisions link1="panda_link1" link2="panda_link3" reason="Default" />
     <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never" />
     <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent" />
     <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never" />
-    <disable_collisions link1="panda_link2" link2="panda_link6" reason="Never" />
     <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent" />
-    <disable_collisions link1="panda_link3" link2="panda_link5" reason="Never" />
     <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never" />
-    <disable_collisions link1="panda_link3" link2="panda_link7" reason="Never" />
     <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent" />
     <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never" />
     <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never" />
+    <disable_collisions link1="panda_link4" link2="panda_link8" reason="Never" />
     <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent" />
     <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent" />
+    <disable_collisions link1="panda_link7" link2="panda_link8" reason="Adjacent" />
   </xacro:macro>
 </robot>
diff --git a/config/panda_arm_hand.srdf.xacro b/config/panda_arm_hand.srdf.xacro
index 9e60335..fadee27 100644
--- a/config/panda_arm_hand.srdf.xacro
+++ b/config/panda_arm_hand.srdf.xacro
@@ -38,16 +38,16 @@
   <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
   <end_effector name="hand" parent_link="panda_link8" group="hand" parent_group="panda_arm" />
   <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-  <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_link6" reason="Never" />
-  <disable_collisions link1="panda_hand" link2="panda_link7" reason="Adjacent" />
-  <disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never" />
+  <disable_collisions link1="panda_hand" link2="panda_link7" reason="Default" />
+  <disable_collisions link1="panda_hand" link2="panda_link8" reason="Adjacent" />
   <disable_collisions link1="panda_leftfinger" link2="panda_link4" reason="Never" />
   <disable_collisions link1="panda_leftfinger" link2="panda_link6" reason="Never" />
   <disable_collisions link1="panda_leftfinger" link2="panda_link7" reason="Never" />
-  <disable_collisions link1="panda_link3" link2="panda_rightfinger" reason="Never" />
+  <disable_collisions link1="panda_leftfinger" link2="panda_link8" reason="Never" />
   <disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never" />
   <disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never" />
   <disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never" />
+  <disable_collisions link1="panda_link8" link2="panda_rightfinger" reason="Never" />
 </robot>

From f1f294ff68bff3322269d52a8cfe96784fe8857f Mon Sep 17 00:00:00 2001
From: Le Li <le.li@franka.de>
Date: Mon, 15 Jun 2020 14:59:30 +0200
Subject: [PATCH 2/2] Disable collision checking between panda_link6 and
 panda_link8. Tested with example controllers.

---
 config/panda_arm.xacro | 1 +
 1 file changed, 1 insertion(+)

diff --git a/config/panda_arm.xacro b/config/panda_arm.xacro
index 5673c76..e0ac5ec 100644
--- a/config/panda_arm.xacro
+++ b/config/panda_arm.xacro
@@ -40,6 +40,7 @@
     <disable_collisions link1="panda_link4" link2="panda_link8" reason="Never" />
     <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent" />
     <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent" />
+    <disable_collisions link1="panda_link6" link2="panda_link8" reason="Default" />
     <disable_collisions link1="panda_link7" link2="panda_link8" reason="Adjacent" />
   </xacro:macro>
 </robot>