Disable collision between af_link_base and forkHandle

personalrobotics · Dec 18, 2024 · 69d0976 · 69d0976
1 parent e0e18c9
commit 69d0976
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/ada_moveit/config/ada.srdf b/ada_moveit/config/ada.srdf
@@ -297,6 +297,7 @@
     <disable_collisions link1="uncalibrated_camera_link" link2="screwHeadRight" reason="Adjacent"/>
 
     <!-- Disable collisions for Articulable Fork links -->
+    <disable_collisions link1="af_link_base" link2="forkHandle" reason="Adjacent"/>
     <disable_collisions link1="af_link_base" link2="af_link_1" reason="Adjacent"/>
     <disable_collisions link1="af_link_base" link2="af_link_2" reason="Adjacent"/>
     <disable_collisions link1="af_link_base" link2="af_ft_adapter_link" reason="Adjacent"/>