From 83e2615787a74836839bf0f6aa5393339c1a5fa0 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@gmail.com>
Date: Tue, 15 Sep 2020 16:32:49 +0200
Subject: [PATCH] [Hyq] remove some disable_collision 'never'

---
 robots/hyq_description/srdf/hyq.srdf | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/robots/hyq_description/srdf/hyq.srdf b/robots/hyq_description/srdf/hyq.srdf
index 93f38e1..0889825 100644
--- a/robots/hyq_description/srdf/hyq.srdf
+++ b/robots/hyq_description/srdf/hyq.srdf
@@ -114,10 +114,8 @@
     <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="lf_lowerleg" reason="Never" />
     <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" />
@@ -125,9 +123,7 @@
     <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="rf_lowerleg" reason="Never" />
     <disable_collisions link1="rf_hipassembly" link2="lf_upperleg" reason="Never" />
-    <disable_collisions link1="rf_hipassembly" link2="lf_lowerleg" 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" />
@@ -135,7 +131,6 @@
     <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="lh_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" />
@@ -143,15 +138,12 @@
     <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="lh_hipassembly" link2="rh_lowerleg" reason="Never" />
     
-    <disable_collisions link1="rh_hipassembly" link2="rh_lowerleg" 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="lh_lowerleg" reason="Never" />
     <disable_collisions link1="rh_hipassembly" link2="lf_upperleg" reason="Never" />
     <disable_collisions link1="rh_hipassembly" link2="lf_lowerleg" reason="Never" />
 
-- 
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