From 56a11d1651c8671f6863cabf079e984664418db8 Mon Sep 17 00:00:00 2001
From: earlaud <etienne.arlaud@inria.fr>
Date: Fri, 10 Jan 2025 11:43:58 +0100
Subject: [PATCH] [topic/Go2] Update collision pairs in srdf
---
robots/go2_description/srdf/go2.srdf | 347 ++-------------------------
1 file changed, 14 insertions(+), 333 deletions(-)
diff --git a/robots/go2_description/srdf/go2.srdf b/robots/go2_description/srdf/go2.srdf
index f095197..edc7694 100644
--- a/robots/go2_description/srdf/go2.srdf
+++ b/robots/go2_description/srdf/go2.srdf
@@ -97,342 +97,23 @@
<end_effector name="rh_foot" parent_link="RR_foot" group="rh_leg"/>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="root_joint" type="floating" parent_frame="world_frame" child_link="base"/>
+
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
- <disable_collisions link1="FL_calf" link2="FL_calf_rotor" reason="Never"/>
+ <disable_collisions link1="base" link2="FL_thigh" reason="Adjacent"/>
+ <disable_collisions link1="FL_thigh" link2="FL_calf" reason="Adjacent"/>
<disable_collisions link1="FL_calf" link2="FL_foot" reason="Adjacent"/>
- <disable_collisions link1="FL_calf" link2="FL_hip" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="FL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="FL_thigh" reason="Adjacent"/>
- <disable_collisions link1="FL_calf" link2="FL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="FR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="FR_foot" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FL_calf" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FL_foot" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FL_hip" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FL_thigh" reason="Adjacent"/>
- <disable_collisions link1="FL_calf_rotor" link2="FL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FR_calf" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FR_foot" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FR_thigh" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RL_calf" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FL_calf_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FL_hip" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FL_thigh" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FR_calf" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FR_foot" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FR_thigh" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FL_foot" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="FL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="FL_thigh" reason="Adjacent"/>
- <disable_collisions link1="FL_hip" link2="FL_thigh_rotor" reason="Adjacent"/>
- <disable_collisions link1="FL_hip" link2="FR_calf" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="FR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="FR_foot" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="FR_thigh" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RL_calf" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FL_hip" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="FL_thigh" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="FL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="FR_calf" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="FR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="FR_foot" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="FR_thigh" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RL_calf" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FL_hip_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="FL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="FR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="FR_foot" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FL_thigh" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="FR_calf" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="FR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="FR_foot" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="FR_thigh" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RL_calf" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FL_thigh_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="FR_calf_rotor" reason="Never"/>
+
+ <disable_collisions link1="base" link2="FR_thigh" reason="Adjacent"/>
+ <disable_collisions link1="FR_thigh" link2="FR_calf" reason="Adjacent"/>
<disable_collisions link1="FR_calf" link2="FR_foot" reason="Adjacent"/>
- <disable_collisions link1="FR_calf" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="FR_thigh" reason="Adjacent"/>
- <disable_collisions link1="FR_calf" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="FR_foot" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="FR_thigh" reason="Adjacent"/>
- <disable_collisions link1="FR_calf_rotor" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RL_calf" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FR_calf_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="FR_hip" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="FR_thigh" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_foot" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="FR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="FR_thigh" reason="Adjacent"/>
- <disable_collisions link1="FR_hip" link2="FR_thigh_rotor" reason="Adjacent"/>
- <disable_collisions link1="FR_hip" link2="RL_calf" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FR_hip" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="FR_thigh" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RL_calf" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FR_hip_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="FR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RL_calf" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RL_calf" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="FR_thigh_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf" link2="RL_calf_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf" link2="RL_foot" reason="Adjacent"/>
- <disable_collisions link1="RL_calf" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="RL_calf" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf" link2="RL_thigh" reason="Adjacent"/>
- <disable_collisions link1="RL_calf" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RL_calf" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RL_foot" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RL_thigh" reason="Adjacent"/>
- <disable_collisions link1="RL_calf_rotor" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="RL_calf_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RL_hip" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RL_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="RL_foot" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_hip" link2="RL_hip_rotor" reason="Never"/>
+
+ <disable_collisions link1="base" link2="RL_hip" reason="Adjacent"/>
<disable_collisions link1="RL_hip" link2="RL_thigh" reason="Adjacent"/>
- <disable_collisions link1="RL_hip" link2="RL_thigh_rotor" reason="Adjacent"/>
- <disable_collisions link1="RL_hip" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="RL_hip" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="RL_hip" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="RL_hip" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RL_hip" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_hip" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="RL_hip" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_hip_rotor" link2="RL_thigh" reason="Never"/>
- <disable_collisions link1="RL_hip_rotor" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_hip_rotor" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="RL_hip_rotor" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="RL_hip_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="RL_hip_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RL_hip_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_hip_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="RL_hip_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_thigh" link2="RL_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_thigh" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="RL_thigh" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RL_thigh" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_thigh" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RL_thigh_rotor" link2="RR_calf" reason="Never"/>
- <disable_collisions link1="RL_thigh_rotor" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="RL_thigh_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="RL_thigh_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RL_thigh_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RL_thigh_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="RL_thigh_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RR_calf" link2="RR_calf_rotor" reason="Never"/>
- <disable_collisions link1="RR_calf" link2="RR_foot" reason="Adjacent"/>
- <disable_collisions link1="RR_calf" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RR_calf" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RR_calf" link2="RR_thigh" reason="Adjacent"/>
- <disable_collisions link1="RR_calf" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RR_calf_rotor" link2="RR_foot" reason="Never"/>
- <disable_collisions link1="RR_calf_rotor" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RR_calf_rotor" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RR_calf_rotor" link2="RR_thigh" reason="Adjacent"/>
- <disable_collisions link1="RR_calf_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RR_foot" link2="RR_hip" reason="Never"/>
- <disable_collisions link1="RR_foot" link2="RR_hip_rotor" reason="Never"/>
- <disable_collisions link1="RR_foot" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="RR_foot" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RR_hip" link2="RR_hip_rotor" reason="Never"/>
+ <disable_collisions link1="RL_thigh" link2="RL_calf" reason="Adjacent"/>
+ <disable_collisions link1="RL_calf" link2="RL_foot" reason="Adjacent"/>
+
+ <disable_collisions link1="base" link2="RR_hip" reason="Adjacent"/>
<disable_collisions link1="RR_hip" link2="RR_thigh" reason="Adjacent"/>
- <disable_collisions link1="RR_hip" link2="RR_thigh_rotor" reason="Adjacent"/>
- <disable_collisions link1="RR_hip_rotor" link2="RR_thigh" reason="Never"/>
- <disable_collisions link1="RR_hip_rotor" link2="RR_thigh_rotor" reason="Never"/>
- <disable_collisions link1="RR_thigh" link2="RR_thigh_rotor" reason="Never"/>
+ <disable_collisions link1="RR_thigh" link2="RR_calf" reason="Adjacent"/>
+ <disable_collisions link1="RR_calf" link2="RR_foot" reason="Adjacent"/>
</robot>
--
GitLab