From f820fd2d46027bfef6eb325e111fef5a136af8b7 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@gmail.com>
Date: Mon, 27 Jul 2020 11:09:26 +0200
Subject: [PATCH] [solo] disable collision pairs for adjacent links
---
robots/solo_description/srdf/solo.srdf | 14 ++++++++++++++
1 file changed, 14 insertions(+)
diff --git a/robots/solo_description/srdf/solo.srdf b/robots/solo_description/srdf/solo.srdf
index 4d31a93..e9bbd3f 100644
--- a/robots/solo_description/srdf/solo.srdf
+++ b/robots/solo_description/srdf/solo.srdf
@@ -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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