Additional non-adjacent self-collision fix for metacarpal and proximal

shadow-robot · Jul 14, 2014 · 93f802f · 93f802f
1 parent 8442e63
commit 93f802f
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/sr_description/hand/xacro/finger/lfmetacarpal/edc_muscle_lfmetacarpal.urdf.xacro b/sr_description/hand/xacro/finger/lfmetacarpal/edc_muscle_lfmetacarpal.urdf.xacro
@@ -36,7 +36,7 @@
         <material name="Grey" />
       </visual>
       <collision>
-        <origin xyz="0 0 0.042" rpy="0 0 0" />
+        <origin xyz="0 0 0.038" rpy="0 0 0" />
         <geometry name="lfmetacarpal_collision_geom">
           <box size="0.018 0.024 0.048" />
         </geometry>
@@ -57,6 +57,7 @@
 	  <bumperTopicName>contacts/lf/metacarpal</bumperTopicName>
         </plugin>
       </sensor>
+      <selfCollide>true</selfCollide>
       <material>LightGrey</material>
     </gazebo>
 

diff --git a/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro b/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro
@@ -36,9 +36,9 @@
         <material name="Grey" />
       </visual>
       <collision>
-        <origin xyz="0 0 0.042" rpy="0 0 0" />
+        <origin xyz="0 0 0.038" rpy="0 0 0" />
         <geometry name="lfmetacarpal_collision_geom">
-          <box size="0.018 0.024 0.048" />
+          <box size="0.018 0.024 0.040" />
         </geometry>
       </collision>
     </link>
@@ -57,6 +57,7 @@
 	  <bumperTopicName>contacts/lf/metacarpal</bumperTopicName>
         </plugin>
       </sensor>
+      <selfCollide>true</selfCollide>
       <material>LightGrey</material>
     </gazebo>