changes.diff

diff --git a/crs_application/config/main/motion_planning/MP_config.yaml b/crs_application/config/main/motion_planning/MP_config.yaml
index dbe65a8..79d3a17 100644
--- a/crs_application/config/main/motion_planning/MP_config.yaml
+++ b/crs_application/config/main/motion_planning/MP_config.yaml
@@ -59,7 +59,7 @@ trajopt_surface:
       cost: 10.0
 ompl:
   collision_safety_margin: 0.01
-  planning_time: 120.0
+  planning_time: 240.0
   simplify: true
   range: 0.15
   num_threads: 8
diff --git a/crs_application/config/main/part_localization.yaml b/crs_application/config/main/part_localization.yaml
index 415c0ef..1716897 100644
--- a/crs_application/config/main/part_localization.yaml
+++ b/crs_application/config/main/part_localization.yaml
@@ -10,7 +10,7 @@ icp:
   rotation_eps: 1e-12  # transformation rotation epsilon in order for an optimization to be considered as having converged to the final solution (epsilon is the cos(angle)
   euclidean_fitness: 1e-12
   ransac_threshold: 0.05
-  use_correspondences: True
+  use_correspondences: true #was true JM 10-7
   use_cog_alignment: False
 sac:
   normal_est_rad: 0.1
@@ -23,12 +23,12 @@ sac:
   inlier_fraction: 0.25
 crop_boxes:
   box1:
-    xyz: [-0.4, 0.0, 1.0] # z was 1.15 MEW 10-5-20
-    size: [2.0, 2.0, 0.8]
+    xyz: [0.0, 0.0, 1.0] # z was 1.15 MEW 10-5-20
+    size: [2.0, 2.5, 1.1]
     reverse: True
   box2:
-    xyz: [-0.4, 0.0, 0.4] # z was 0.56 MEW 10-5-20
-    size: [0.7, 3.0, 0.5] # z was 0.8 MEW 10-5-20
+    xyz: [0.52, 0.0, 0.5] # x was 0 JM z was 0.56 MEW 10-5-20
+    size: [2.0, 2.5, 1.4] # x was 1 JM z was 0.8 MEW 10-5-20 x
     reverse: False # deletes what's inside the box
 #  box3:
 #    xyz: [0.25, -0.8, 1.3]
diff --git a/crs_application/resources/crs.rviz b/crs_application/resources/crs.rviz
index 56327e6..5091b44 100644
--- a/crs_application/resources/crs.rviz
+++ b/crs_application/resources/crs.rviz
@@ -8,6 +8,7 @@ Panels:
         - /TF1/Frames1
         - /MarkerArray1
         - /Scan Poses1/Topic1
+        - /RobotModel1
         - /Rework Detected Regions1/Namespaces1
         - /Rework Cropped Toolpaths1/Namespaces1
         - /MarkerArray2
@@ -537,6 +538,39 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /crs/original_raster_paths
       Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /crs/camera/pointcloud
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -580,25 +614,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 2.3857626914978027
+      Distance: 4.35211706161499
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -0.12686516344547272
-        Y: -0.1258266270160675
-        Z: 0.9012944102287292
+        X: -0.4241983890533447
+        Y: 0.20520944893360138
+        Z: 0.2729418873786926
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.4547964036464691
+      Pitch: 0.4247957468032837
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 2.246750593185425
+      Yaw: 3.2263121604919434
     Saved: ~
 Window Geometry:
   ApplicationPanel:
@@ -608,7 +642,7 @@ Window Geometry:
   Height: 1025
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd000000040000000000000297000003a7fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fc0000003d000003a7000001ea0100001cfa000000010100000002fb000000100044006900730070006c0061007900730100000000ffffffff0000015600fffffffb00000020004100700070006c00690063006100740069006f006e00500061006e0065006c0100000000000002970000020a00ffffff000000010000010f000003a7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000003a7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004a0000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000297000003a7fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fc0000003d000003a7000001ea0100001cfa000000000100000002fb000000100044006900730070006c0061007900730100000000ffffffff0000015600fffffffb00000020004100700070006c00690063006100740069006f006e00500061006e0065006c0100000000000002970000020a00ffffff000000010000010f000003a7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000003a7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004a0000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
diff --git a/crs_process_data/data/main/toolpaths/218_surf/218_surf.stl b/crs_process_data/data/main/toolpaths/218_surf/218_surf.stl
new file mode 100644
index 0000000..730a25f
Binary files /dev/null and b/crs_process_data/data/main/toolpaths/218_surf/218_surf.stl differ
diff --git a/crs_process_data/data/main/toolpaths/218_surf/crs.yaml b/crs_process_data/data/main/toolpaths/218_surf/crs.yaml
new file mode 100644
index 0000000..1ce4bdd
--- /dev/null
+++ b/crs_process_data/data/main/toolpaths/218_surf/crs.yaml
@@ -0,0 +1,53 @@
+crs:
+  general: {}
+  motion_planning:
+    pre_move_home: false
+    home_position:
+      joint_names: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
+      joint_position: [-1.8444, -1.85261, -1.6167, -1.6665, 0.8773, -0.9489]
+    process_path:
+      tool_speed: 0.05
+      offset_pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+      retreat_dist: 0.025
+      approach_dist: 0.025
+      tool_frame: sander_center_link
+      target_force: 15
+    media_change:
+      change_time: 1200.0
+      joint_names: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
+      joint_position: [-0.02467, -1.7719, -1.8680, -0.6212, 0.90265, -2.2430]
+    preview:
+      time_scaling: 4.0
+  scan_acquisition:
+    scan_poses:
+      - pose: [-1.483, -0.229, 1.735, 2.797, 1.17, -2.43]
+      - pose: [-1.527, -0.239, 1.731, 2.74, 0.66, -2.79]
+      - pose: [-1.698, 0.357, 1.445, 2.955, 0.904, -1.36]
+    tool_frame: camera_link_optical
+    skip_on_failure: true
+  process_execution:
+    time_tolerance: 120.0
+    joint_tolerance: [0.035, 0.035, 0.035, 0.035, 0.035, 0.035]
+    cartesian_path_tolerance: [0.015, 0.015, 0.035, 0.15, 0.15, 0.15]
+    cartesian_goal_tolerance: [0.01, 0.01, 0.025, 0.05, 0.05, 0.05]
+    force_tolerance: 5
+    force_controlled_trajectories: false
+    ur_tool_change_script: simpleMove.urp
+    execute_tool_change: false
+  part_registration:
+    simulation_pose: [-0.55, 0.3, 1.3, 0.0, 0.0, 1.50]
+    seed_pose: [-0.55, 0.3, 1.25, 0.0, 0.0, 1.45]
+    target_frame_id: world
+    part_file: ""
+    toolpath_file: ""
+    toolpath_edge_buffer: 0.0
+  part_rework:
+    scan_poses:
+      - pose: [0.0, -0.50, 1.7, 0.0, -2.35619, 1.57]
+      - pose: [0.0, -0.25, 1.7, 0.0, -2.35619, 1.57]
+      - pose: [0.0, -0.10, 1.7, 0.5, -2.35619, 1.57]
+      - pose: [0.0, 0.0, 1.7, 0.0, -2.35619, 1.57]
+      - pose: [0.0, 0.1, 1.7, -0.8, -2.35619, 1.57]
+    tool_frame: camera_link_optical
+    pre_acquisition_pause: 2.0
+    skip_on_failure: true
diff --git a/crs_process_data/data/main/toolpaths/218_surf/job_toolpath_ls10mm_ps10mm_r0d.yaml b/crs_process_data/data/main/toolpaths/218_surf/job_toolpath_ls10mm_ps10mm_r0d.yaml
new file mode 100644
index 0000000..c6a7bb4
--- /dev/null
+++ b/crs_process_data/data/main/toolpaths/218_surf/job_toolpath_ls10mm_ps10mm_r0d.yaml
@@ -0,0 +1,4149 @@
+- process_type:
+    val: "\x00"
+  header:
+    frame_id: ""
+    stamp:
+      nsec: 286898797
+      sec: 1600786844
+    seq: 0
+  paths:
+    - poses:
+        - orientation:
+            w: 0.5
+            y: 2.075075712533235e-322
+            z: 3.444396570744202e-310
+            x: -3.512184582783119e-310
+          position:
+            x: 0.680962860584259
+            z: -0.1795176565647125
+            y: -0.03070141561329365
+        - orientation:
+            y: 2.075075712533235e-322
+            x: -3.509755682693042e-310
+            w: 0.5
+            z: 3.312436671186625e-310
+          position:
+            y: -0.07599532604217529
+            z: -0.1797325611114502
+            x: 0.680296003818512
+        - position:
+            z: -0.1833205819129944
+            y: -0.1211414858698845
+            x: 0.6796936988830566
+          orientation:
+            w: 0.5
+            x: -3.507258962098273e-310
+            z: 3.175852211251951e-310
+            y: 2.075075712533235e-322
+      header:
+        seq: 18
+        frame_id: 0
+        stamp:
+          nsec: 147891435
+          sec: 1600786843
+    - poses:
+        - orientation:
+            y: 0.2131761523117698
+            x: 0.01832144227693993
+            w: 0.7068169404579411
+            z: 0.6742626087216443
+          position:
+            y: 0.2256258726119995
+            z: -0.2200511246919632
+            x: 0.6833967566490173
+        - position:
+            x: 0.6827954053878784
+            y: 0.2729982733726501
+            z: -0.2354807406663895
+          orientation:
+            y: 0.2133082306600764
+            z: 0.6689142781291005
+            w: 0.7118805667761033
+            x: 0.01671364395414061
+        - position:
+            x: 0.6825132369995117
+            y: 0.3191051781177521
+            z: -0.2543636858463287
+          orientation:
+            x: 0.01509716183042504
+            y: 0.2134287301799457
+            z: 0.6635019437353985
+            w: 0.716927767280491
+      header:
+        seq: 17
+        frame_id: 0
+        stamp:
+          sec: 1600786843
+          nsec: 147866038
+    - header:
+        seq: 19
+        stamp:
+          sec: 1600786843
+          nsec: 147910704
+        frame_id: 0
+      poses:
+        - position:
+            x: 0.6708857417106628
+            y: -0.367032378911972
+            z: -0.2403247505426407
+          orientation:
+            x: 3.932762540896322e-320
+            y: 4.361117455840683e-320
+            z: 3.22387083738564e-310
+            w: 0.5
+        - position:
+            x: 0.670083224773407
+            y: -0.4017928540706635
+            z: -0.2538830935955048
+          orientation:
+            x: 3.883355976312198e-320
+            y: 4.361117455840683e-320
+            z: 3.186167425410561e-310
+            w: 0.5
+        - position:
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+            y: -0.4357055425643921
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+          orientation:
+            x: 3.770709009060394e-320
+            y: 4.361117455840683e-320
+            z: 3.096958504485826e-310
+            w: 0.5
+        - position:
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+            y: -0.4685354232788086
+            z: -0.2870927453041077
+          orientation:
+            z: 3.044714182950755e-310
+            w: 0.5
+            x: 3.706480475101032e-320
+            y: 4.361117455840683e-320
+    - header:
+        seq: 16
+        stamp:
+          sec: 1600786843
+          nsec: 147831161
+        frame_id: 0
+      poses:
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+    - header:
+        seq: 20
+        stamp:
+          sec: 1600786843
+          nsec: 147935037
+        frame_id: 0
+      poses:
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+    - header:
+        seq: 15
+        stamp:
+          sec: 1600786843
+          nsec: 147798485
+        frame_id: 0
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+    - header:
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+        stamp:
+          sec: 1600786843
+          nsec: 147613055
+        frame_id: 0
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diff --git a/crs_process_data/data/main/toolpaths/218_surf/job_toolpath_ls10mm_ps10mm_r90d.yaml b/crs_process_data/data/main/toolpaths/218_surf/job_toolpath_ls10mm_ps10mm_r90d.yaml
new file mode 100644
index 0000000..a22330f
--- /dev/null
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diff --git a/crs_process_data/data/main/toolpaths/218_surf/job_toolpath_ls10mm_ps5mm_r0d.yaml b/crs_process_data/data/main/toolpaths/218_surf/job_toolpath_ls10mm_ps5mm_r0d.yaml
new file mode 100644
index 0000000..2fed89c
--- /dev/null
+++ b/crs_process_data/data/main/toolpaths/218_surf/job_toolpath_ls10mm_ps5mm_r0d.yaml
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\ No newline at end of file
diff --git a/crs_process_data/data/main/toolpaths/35_surf/35_surf.stl b/crs_process_data/data/main/toolpaths/35_surf/35_surf.stl
new file mode 100644
index 0000000..0fea028
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diff --git a/crs_process_data/data/main/toolpaths/35_surf/crs.yaml b/crs_process_data/data/main/toolpaths/35_surf/crs.yaml
new file mode 100644
index 0000000..494f53c
--- /dev/null
+++ b/crs_process_data/data/main/toolpaths/35_surf/crs.yaml
@@ -0,0 +1,53 @@
+crs:
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diff --git a/crs_process_data/data/main/toolpaths/35_surf/job_toolpath_ls10mm_ps10mm_r105d.yaml b/crs_process_data/data/main/toolpaths/35_surf/job_toolpath_ls10mm_ps10mm_r105d.yaml
new file mode 100644
index 0000000..23545c9
--- /dev/null
+++ b/crs_process_data/data/main/toolpaths/35_surf/job_toolpath_ls10mm_ps10mm_r105d.yaml
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diff --git a/crs_process_data/data/main/toolpaths/35_surf/job_toolpath_ls12mm_ps10mm_r12d.yaml b/crs_process_data/data/main/toolpaths/35_surf/job_toolpath_ls12mm_ps10mm_r12d.yaml
new file mode 100644
index 0000000..bcc4ac0
--- /dev/null
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diff --git a/crs_process_data/data/main/toolpaths/35_surf/job_toolpath_ls12mm_ps5mm_r105d.yaml b/crs_process_data/data/main/toolpaths/35_surf/job_toolpath_ls12mm_ps5mm_r105d.yaml
new file mode 100644
index 0000000..3d93df6
--- /dev/null
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diff --git a/crs_process_data/data/main/toolpaths/35_surf/job_toolpath_ls12mm_ps5mm_r15d.yaml b/crs_process_data/data/main/toolpaths/35_surf/job_toolpath_ls12mm_ps5mm_r15d.yaml
new file mode 100644
index 0000000..4802efd
--- /dev/null
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+        stamp:
+          sec: 1600734447
+          nsec: 783864923
+        frame_id: 0
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+            x: 0.2207120436823336
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+            x: -0.8133861422538757
+        - position:
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+          position:
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+            w: 0.6778327336201241
+        - position:
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+          orientation:
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+            w: 0.6784271180543895
+        - position:
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+            y: -0.06812793761491776
+            z: -0.09765703976154327
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+            w: 0.6783922669388157
+        - position:
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+            y: -0.021273048594594
+            z: -0.09691791236400604
+          orientation:
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+            z: 0.7339235005472746
+            w: 0.6777601723996081
+        - position:
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+            y: 0.02558482252061367
+            z: -0.09703262150287628
+          orientation:
+            x: -0.03334271694750432
+            y: -0.02851781032479738
+            z: 0.7340976231190174
+            w: 0.6776250271734705
+  header:
+    frame_id: ""
+    seq: 0
+    stamp:
+      nsec: 935641732
+      sec: 1600734448
+  dwell_time: 0
+  tool_offset:
+    position:
+      x: 0
+      y: 0
+      z: 0
+    orientation:
+      x: 1
+      y: 0
+      z: 0
+      w: 6.123233995736766e-17
+  params:
+    config:
+      pt_spacing: 0.05
+      line_spacing: 0.12
+      tool_offset: 0
+      intersecting_plane_height: 0.05
+      min_hole_size: 0.2
+      min_segment_size: 0.05
+      raster_angle: 0.2617993877991494
+      raster_wrt_global_axes: "\x00"
+      generate_extra_rasters: "\x00"
+    curvature_threshold: 0.05
+    min_polygons_per_cluster: 500
\ No newline at end of file
diff --git a/crs_support/urdf/crs.urdf.xacro b/crs_support/urdf/crs.urdf.xacro
index bbd984a..065ce8c 100644
--- a/crs_support/urdf/crs.urdf.xacro
+++ b/crs_support/urdf/crs.urdf.xacro
@@ -30,6 +30,7 @@
         <child link="${prefix}shoulder_link" />
         <origin rpy="0 0 3.14159249728" xyz="0 0 0.180920744391" />
         <axis xyz="0 0 1" />
+        <!--limit effort="330.0" lower="-2.6" upper="2.4" velocity="3.14" /-->
         <limit effort="330.0" lower="-4" upper="3.28" velocity="3.14" />
         <dynamics damping="0.0" friction="0.0" />
     </joint>
@@ -126,7 +127,8 @@
         <child link="${prefix}wrist_1_link" />
         <origin rpy="3.13872123266 -3.14053617519 3.14158723656" xyz="-0.571064941288 0.000500820247035 0.174414995927" />
         <axis xyz="0 0 1" />
-        <limit effort="54.0" lower="-6.28318530718" upper="6.28318530718" velocity="6.28" />
+        <limit effort="54.0" lower="-6.28318530718" upper="6.28318530718" velocity="6.28" />>
+ <!--       <limit effort="54.0" lower="-4.2" upper="0.7" velocity="6.28" /-->
         <dynamics damping="0.0" friction="0.0" />
     </joint>
     <link name="${prefix}wrist_1_link">
@@ -190,7 +192,8 @@
         <child link="${prefix}wrist_3_link" />
         <origin rpy="1.57170379674 3.14159265359 3.14159254819" xyz="1.57784168351e-05 0.115533666641 0.000104843358957" />
         <axis xyz="0 0 1" />
-        <limit effort="54.0" lower="-6.28318530718" upper="6.28318530718" velocity="6.28" />
+        <limit effort="54.0" lower="-6.28318530718" upper="6.28318530718" velocity="6.28" />>
+<!--        <limit effort="54.0" lower="-2.6" upper="4.9" velocity="6.28" /-->
         <dynamics damping="0.0" friction="0.0" />
     </joint>
     <link name="${prefix}wrist_3_link">
@@ -312,7 +315,7 @@
         <visual>
 <!--            <origin rpy="1.57079632679 0 0" xyz="0.20 0.2 -0.1168" />-->
 <!--            <origin rpy="1.57079632679 0 0" xyz="0.53 0.2 -0.1168" />-->
-            <origin rpy="1.57079632679 0.42 0" xyz="0.7 0.2 -0.1168" />
+            <origin rpy="1.57079632679 0 0" xyz="0.7 0.2 -0.1168" />
             <geometry>
                 <mesh filename="package://crs_support/meshes/Mockup/visual/mockup_cart_v4.stl" />
             </geometry>
@@ -323,7 +326,7 @@
         <collision>
             <!--<origin rpy="1.57079632679 0 0" xyz="0.20 0.2 -0.1168" />-->
 <!--            <origin rpy="1.57079632679 0 0" xyz="0.53 0.2 -0.1168" />-->
-            <origin rpy="1.57079632679 0.42 0" xyz="0.7 0.2 -0.1168" />
+            <origin rpy="1.57079632679 0 0" xyz="0.7 0.2 -0.1168" />
             <geometry>
                 <mesh filename="package://crs_support/meshes/Mockup/collision/Mockup3_6_Cart_collision.stl" />
             </geometry>
@@ -349,10 +352,10 @@
             </geometry>
             <origin rpy="0 0 0" xyz="0.85 -1.1 0.0" />
         </collision>
-        <collision> Back Wall bottom Half
+        <collision> Back Wall bottom Half NOW NO TOOLCHANGERS PRESENT
             <geometry>
 <!--                <box size="0.4 1.1 3.0" />-->
-                <box size="0.6 3.1 3.0" />
+                <box size="0.15 3.1 3.0" />
             </geometry>
             <origin rpy="0 0 0" xyz="-2.06 -0.6 0.0" />
         </collision>
@@ -382,7 +385,7 @@
         </collision>
 
         <!--added by Bharath/Joe on 9/23 to avoid collision-->
-        <collision> Temp block
+<!--        <collision> Temp block
             <geometry>
                 <box size="1 1.1 0.1" />
             </geometry>
@@ -393,7 +396,7 @@
                 <box size="1.5 1.2 0.1" />
             </geometry>
             <origin rpy="0 0.42 0" xyz="-0.17 -0.75 -0.9" />
-        </collision>
+        </collision>-->
         <!--added by Bharath/Joe on 9/23 to avoid collision-->