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                                            Liyiyang66

<disable_collisions_on_attach>true</disable_collisions_on_attach>, Where does changing this parameter affect the <self_collide>

oh, sorry, there is still some small wobbling of finger_tip_link after gripper attached the object. So, i set the true of the to prevent the wobbling, then there is no...

<disable_collisions_on_attach>true</disable_collisions_on_attach>, Where does changing this parameter affect the <self_collide>

oh, i think i got it, thanks for your advice. i will have a try.