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Unverified Commit c5a65a5d authored by Nadia Hammoudeh García's avatar Nadia Hammoudeh García Committed by GitHub
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Merge pull request #361 from ipa-nhg/gazebo_tag_selfCollide

Gazebo tag self collide
parents 4ca099b6 c2289a13
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......@@ -2,7 +2,29 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="ur_arm_gazebo" params="prefix">
<!-- nothing to do here at the moment -->
<gazebo reference="${prefix}shoulder_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="${prefix}upper_arm_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="${prefix}forearm_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="${prefix}wrist_1_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="${prefix}wrist_3_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="${prefix}wrist_2_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="${prefix}ee_link">
<selfCollide>true</selfCollide>
</gazebo>
</xacro:macro>
</robot>
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