From 909ab0e8a005e9db80f2a8ca2861dcf880a0385f Mon Sep 17 00:00:00 2001
From: Rick Staa <rick.staa@outlook.com>
Date: Fri, 27 Aug 2021 14:27:34 +0200
Subject: [PATCH] Fix panda self-collisions (#49)

This commit contains a fix for self-collisions that were introduced in https://github.com/frankaemika/franka_ros/releases/tag/0.8.0. Franka changed the collision goemetries from meshes to shapes. Since these geometries are too coarse some joints are now in self collision. This commit might be removed in the future if the issue is fixed in the upstream.
---
 config/panda_arm.xacro | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/config/panda_arm.xacro b/config/panda_arm.xacro
index 4c04502..34dfef8 100644
--- a/config/panda_arm.xacro
+++ b/config/panda_arm.xacro
@@ -58,5 +58,13 @@
         <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default"/>
         <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent"/>
         <disable_collisions link1="panda_link7" link2="panda_link8" reason="Adjacent"/>
+        <!-- Fix self-collisions
+            NOTE: The code below fixes self-collisions that are introduced because the
+            collision geometries provided by Franka are too course (see
+            https://github.com/ros-planning/panda_moveit_config/issues/72#issuecomment-768472329
+            for more information).
+        -->
+        <disable_collisions link1="panda_link5" link2="panda_link8" reason="Default" />
+        <disable_collisions link1="panda_link6" link2="panda_link8" reason="Default"/>
     </xacro:macro>
 </robot>