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Unverified Commit c26b717d authored by Fernbach Pierre's avatar Fernbach Pierre Committed by GitHub
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Fix Hyq srdf (disable collision pairs)

parent a9dea8c2
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Stage: test
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robots/hyq_description/srdf/hyq.srdf
+ 48
− 2
View file @ c26b717d
...@@ -96,8 +96,24 @@ ...@@ -96,8 +96,24 @@
<joint name="rh_hfe_joint" value="-0.75" /> <joint name="rh_hfe_joint" value="-0.75" />
<joint name="rh_kfe_joint" value="1.5" /> <joint name="rh_kfe_joint" value="1.5" />
</group_state> </group_state>
<disable_collisions link1="lf_hipassembly" link2="lf_upperleg" reason="Adjacent" /> <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="lf_lowerleg" reason="Never" /> <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_hipassembly" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="rf_upperleg" reason="Never" /> <disable_collisions link1="lf_hipassembly" link2="rf_upperleg" reason="Never" />
...@@ -108,5 +124,35 @@ ...@@ -108,5 +124,35 @@
<disable_collisions link1="lf_hipassembly" link2="rh_hipassembly" 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_upperleg" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="rh_lowerleg" 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" />
<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="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" />
<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="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" />
</robot> </robot>
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