From 93f802f754c6c3364d6544cfdc9ada56221ed4da Mon Sep 17 00:00:00 2001
From: GuiHome <guihome@wanadoo.fr>
Date: Mon, 14 Jul 2014 03:53:01 +0200
Subject: [PATCH] Additional non-adjacent self-collision fix for metacarpal and
 proximal

---
 .../finger/lfmetacarpal/edc_muscle_lfmetacarpal.urdf.xacro   | 3 ++-
 .../hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro   | 5 +++--
 2 files changed, 5 insertions(+), 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
index b13f3ce0..c7a3482e 100644
--- 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
index 5d985080..d6f01048 100644
--- 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>