Unverified Commit 29f264e5 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
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Merge pull request #48 from pFernbach/patch-1

Fix Hyq srdf (disable collision pairs)
parents 72229d51 83e26157
Pipeline #11141 passed with stage
in 2 minutes and 15 seconds
......@@ -96,17 +96,55 @@
<joint name="rh_hfe_joint" value="-0.75" />
<joint name="rh_kfe_joint" value="1.5" />
</group_state>
<disable_collisions link1="lf_hipassembly" link2="lf_upperleg" reason="Adjacent" />
<disable_collisions link1="lf_hipassembly" link2="lf_lowerleg" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="trunk" reason="Adjacent"/>
<disable_collisions link1="lh_hipassembly" link2="trunk" reason="Adjacent"/>
<disable_collisions link1="rf_hipassembly" link2="trunk" reason="Adjacent"/>
<disable_collisions link1="rh_hipassembly" link2="trunk" reason="Adjacent"/>
<disable_collisions link1="lf_hipassembly" link2="lf_upperleg" reason="Adjacent"/>
<disable_collisions link1="lh_hipassembly" link2="lh_upperleg" reason="Adjacent"/>
<disable_collisions link1="rf_hipassembly" link2="rf_upperleg" reason="Adjacent"/>
<disable_collisions link1="rh_hipassembly" link2="rh_upperleg" reason="Adjacent"/>
<disable_collisions link1="lf_lowerleg" link2="lf_upperleg" reason="Adjacent"/>
<disable_collisions link1="lh_lowerleg" link2="lh_upperleg" reason="Adjacent"/>
<disable_collisions link1="rf_lowerleg" link2="rf_upperleg" reason="Adjacent"/>
<disable_collisions link1="rh_lowerleg" link2="rh_upperleg" reason="Adjacent"/>
<disable_collisions link1="lf_lowerleg" link2="lf_foot" reason="Adjacent"/>
<disable_collisions link1="lh_lowerleg" link2="lh_foot" reason="Adjacent"/>
<disable_collisions link1="rf_lowerleg" link2="rf_foot" reason="Adjacent"/>
<disable_collisions link1="rh_lowerleg" link2="rh_foot" reason="Adjacent"/>
<disable_collisions link1="lf_hipassembly" link2="rf_hipassembly" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="rf_upperleg" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="rf_lowerleg" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="lh_hipassembly" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="lh_upperleg" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="lh_lowerleg" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="rh_hipassembly" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="rh_upperleg" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="rh_lowerleg" reason="Never" />
<disable_collisions link1="rf_hipassembly" link2="lf_upperleg" reason="Never" />
<disable_collisions link1="rf_hipassembly" link2="lh_hipassembly" reason="Never" />
<disable_collisions link1="rf_hipassembly" link2="lh_upperleg" reason="Never" />
<disable_collisions link1="rf_hipassembly" link2="lh_lowerleg" reason="Never" />
<disable_collisions link1="rf_hipassembly" link2="rh_hipassembly" reason="Never" />
<disable_collisions link1="rf_hipassembly" link2="rh_upperleg" reason="Never" />
<disable_collisions link1="rf_hipassembly" link2="rh_lowerleg" reason="Never" />
<disable_collisions link1="lh_hipassembly" link2="rf_hipassembly" reason="Never" />
<disable_collisions link1="lh_hipassembly" link2="rf_upperleg" reason="Never" />
<disable_collisions link1="lh_hipassembly" link2="rf_lowerleg" reason="Never" />
<disable_collisions link1="lh_hipassembly" link2="lf_upperleg" reason="Never" />
<disable_collisions link1="lh_hipassembly" link2="lf_lowerleg" reason="Never" />
<disable_collisions link1="lh_hipassembly" link2="rh_hipassembly" reason="Never" />
<disable_collisions link1="lh_hipassembly" link2="rh_upperleg" reason="Never" />
<disable_collisions link1="rh_hipassembly" link2="rf_hipassembly" reason="Never" />
<disable_collisions link1="rh_hipassembly" link2="rf_upperleg" reason="Never" />
<disable_collisions link1="rh_hipassembly" link2="rf_lowerleg" reason="Never" />
<disable_collisions link1="rh_hipassembly" link2="lh_hipassembly" reason="Never" />
<disable_collisions link1="rh_hipassembly" link2="lh_upperleg" reason="Never" />
<disable_collisions link1="rh_hipassembly" link2="lf_upperleg" reason="Never" />
<disable_collisions link1="rh_hipassembly" link2="lf_lowerleg" reason="Never" />
</robot>
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