Skip to content

GitLab

E
example-robot-data
Commit f820fd2d authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files
Options

[solo] disable collision pairs for adjacent links

parent 153adbef
Pipeline #10268 passed with stage
    in 2 minutes and 18 seconds
    Hide whitespace changes
    Inline Side-by-side
    Showing with 14 additions and 0 deletions
    robots/solo_description/srdf/solo.srdf
    View file @ f820fd2d
    ......@@ -97,4 +97,18 @@
    <joint name="HR_KFE" value="1.6" />
    </group_state>
    <disable_collisions link1="FL_SHOULDER" link2="base_link" reason="Adjacent" />
    <disable_collisions link1="FR_SHOULDER" link2="base_link" reason="Adjacent" />
    <disable_collisions link1="HL_SHOULDER" link2="base_link" reason="Adjacent" />
    <disable_collisions link1="HR_SHOULDER" link2="base_link" reason="Adjacent" />
    <disable_collisions link1="FL_UPPER_LEG" link2="FL_SHOULDER" reason="Adjacent" />
    <disable_collisions link1="FR_UPPER_LEG" link2="FR_SHOULDER" reason="Adjacent" />
    <disable_collisions link1="HL_UPPER_LEG" link2="HL_SHOULDER" reason="Adjacent" />
    <disable_collisions link1="HR_UPPER_LEG" link2="HR_SHOULDER" reason="Adjacent" />
    <disable_collisions link1="FL_LOWER_LEG" link2="FL_UPPER_LEG" reason="Adjacent" />
    <disable_collisions link1="FR_LOWER_LEG" link2="FR_UPPER_LEG" reason="Adjacent" />
    <disable_collisions link1="HL_LOWER_LEG" link2="HL_UPPER_LEG" reason="Adjacent" />
    <disable_collisions link1="HR_LOWER_LEG" link2="HR_UPPER_LEG" reason="Adjacent" />
    </robot>
    Markdown is supported
    0% or
    You are about to add 0 people to the discussion. Proceed with caution.
    Finish editing this message first!
    Please register or to comment