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shadow-robot / sr-ros-interface

A ROS interface for Shadow Robot's hand.
GNU General Public License v2.0
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Remove wrong "disable collision" from right arm+hand SRDF #306

Closed toliver closed 9 years ago

toliver commented 9 years ago

We should remove the last group of disable collisions, as they refer to links that don't exist in a biotac hand.

To avoid getting this:

[ERROR] [1433504838.775942782]: Link 'rh_mfmiddle' is not known to URDF. Cannot disable collisons.
[ERROR] [1433504838.776000388]: Link 'rh_ffmiddle' is not known to URDF. Cannot disable collisons.
[ERROR] [1433504838.776027476]: Link 'rh_ffmiddle' is not known to URDF. Cannot disable collisons.
[ERROR] [1433504838.776063101]: Link 'rh_ffdistal' is not known to URDF. Cannot disable collisons.
[ERROR] [1433504838.776098811]: Link 'rh_rfmiddle' is not known to URDF. Cannot disable collisons.
[ERROR] [1433504838.776129159]: Link 'rh_mfmiddle' is not known to URDF. Cannot disable collisons.
[ERROR] [1433504838.776157383]: Link 'rh_mfmiddle' is not known to URDF. Cannot disable collisons.
[ERROR] [1433504838.776190388]: Link 'rh_mfdistal' is not known to URDF. Cannot disable collisons.
[ERROR] [1433504838.776223425]: Link 'rh_lfmiddle' is not known to URDF. Cannot disable collisons.
[ERROR] [1433504838.776253053]: Link 'rh_rfmiddle' is not known to URDF. Cannot disable collisons.
[ERROR] [1433504838.776282747]: Link 'rh_rfmiddle' is not known to URDF. Cannot disable collisons.
[ERROR] [1433504838.776315468]: Link 'rh_rfdistal' is not known to URDF. Cannot disable collisons.
guihomework commented 9 years ago

@toliver , this related to something I mentioned in march (11th). Why is the biotac middle link not called rh_ffmiddle as in other hands. Norman H. who designed the biotac urdf said he does not care. You are the one to decide. It would simplify stuff to name this link the same way as in a non-biotac hand. Removing a disable collision checking is not the way to go imho.

my srdf generator for the shadow hands (all of them) took care of the biotac hand to rename this link in the disable collision but fixinng it in the urdf is the cleanest way.

ugocupcic commented 9 years ago

@guihomework thanks for the great suggestion.