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Commit f820fd2d authored by Pierre Fernbach's avatar Pierre Fernbach
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[solo] disable collision pairs for adjacent links

parent 153adbef
Pipeline #10268 passed with stage
in 2 minutes and 18 seconds
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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>
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