Gripper fingers colliding with grasped object [possible solution]

[Au3f]

The Problem mentioned in two_finger_grasp_generator.cpp at line 389 "There is a bug with face grasps allowing the grasp generator to generate grasps where the gripper fingers are in collision with the object being grasped" seems to be caused by an faulty configuration in panda_grasp_data.yaml

The provided configurations are not consistent and result in collisions:

pregrasp_posture: [ 0.04 ]  # open position
grasp_posture: [ 0.0 ]      # close position
joints: [ 'panda_finger_joint1' ]
max_finger_width: 0.085
min_finger_width: 0.06

When max_finger_width matches the pregrasp_posture, there are no more collisions in my case:

pregrasp_posture: [ 0.04 ]  # open position
grasp_posture: [ 0.02 ]      # close position
joints: [ 'panda_finger_joint1' ]
max_finger_width: 0.08
min_finger_width: 0.04