Merge pull request #7 from RethinkRobotics/gripper_collision_update

Resolves #6 Adds temp collision shape ignoring

sawyer_moveit_config/srdf/rethink_electric_gripper.srdf.xacro

@@ -7,7 +7,11 @@
     <xacro:macro name="rethink_electric_gripper" params="side">
     <xacro:property name="gripper_side" value="${side[0]}" scope="local"/>
 
+    <disable_collisions link1="${side}_l6" link2="${side}_gripper_base" reason="Adjacent" />
+    <disable_collisions link1="${side}_gripper_base" link2="${side}_gripper" reason="Adjacent" />
+    <disable_collisions link1="${side}_gripper" link2="${side}_hand" reason="Adjacent" />
     <disable_collisions link1="${side}_hand" link2="${side}_gripper_base" reason="Adjacent" />
+    <xacro:if value="false"> <!-- Add these back in once articulated gripper is available -->
     <disable_collisions link1="${side}_hand" link2="${side}_connector_plate_base" reason="Adjacent" />
     <disable_collisions link1="${side}_hand" link2="${side}_electric_gripper_base" reason="Adjacent" />
 
@@ -55,5 +59,6 @@
     <disable_collisions link1="${gripper_side}_gripper_l_finger_tip" link2="${gripper_side}_gripper_r_finger_tip" reason="Never" />
     <disable_collisions link1="${gripper_side}_gripper_l_finger" link2="${gripper_side}_gripper_l_finger_tip" reason="Never" />
     <disable_collisions link1="${gripper_side}_gripper_r_finger" link2="${gripper_side}_gripper_r_finger_tip" reason="Never" />
+    </xacro:if>
     </xacro:macro>
 </robot>