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disable some collisions #89

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jgueldenstein merged 1 commit into from
Feb 22, 2021
Merged

disable some collisions #89

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4 changes: 4 additions & 0 deletions wolfgang_moveit_config/config/wolfgang.srdf
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,7 @@
<disable_collisions link1="l_hip_1" link2="r_shoulder" reason="Never" />
<disable_collisions link1="l_hip_1" link2="r_upper_arm" reason="Never" />
<disable_collisions link1="l_hip_1" link2="torso" reason="Adjacent" />
<disable_collisions link1="l_hip_1" link2="l_upper_leg" reason="Adjacent" />
<disable_collisions link1="l_hip_2" link2="l_lower_leg" reason="Never" />
<disable_collisions link1="l_hip_2" link2="l_shoulder" reason="Never" />
<disable_collisions link1="l_hip_2" link2="l_upper_arm" reason="Never" />
Expand All @@ -164,6 +165,7 @@
<disable_collisions link1="l_lower_leg" link2="l_shoulder" reason="Never" />
<disable_collisions link1="l_lower_leg" link2="l_upper_arm" reason="Never" />
<disable_collisions link1="l_lower_leg" link2="l_upper_leg" reason="Adjacent" />
<disable_collisions link1="l_lower_leg" link2="l_foot" reason="Adjacent" />
<disable_collisions link1="l_lower_leg" link2="llb" reason="Never" />
<disable_collisions link1="l_lower_leg" link2="llf" reason="Never" />
<disable_collisions link1="l_lower_leg" link2="lrb" reason="Never" />
Expand Down Expand Up @@ -267,6 +269,7 @@
<disable_collisions link1="r_hip_1" link2="rlf" reason="Never" />
<disable_collisions link1="r_hip_1" link2="rrf" reason="Never" />
<disable_collisions link1="r_hip_1" link2="torso" reason="Adjacent" />
<disable_collisions link1="r_hip_1" link2="r_upper_leg" reason="Adjacent" />
<disable_collisions link1="r_hip_2" link2="r_lower_leg" reason="Never" />
<disable_collisions link1="r_hip_2" link2="r_shoulder" reason="Never" />
<disable_collisions link1="r_hip_2" link2="r_upper_arm" reason="Never" />
Expand All @@ -279,6 +282,7 @@
<disable_collisions link1="r_lower_leg" link2="r_shoulder" reason="Never" />
<disable_collisions link1="r_lower_leg" link2="r_upper_arm" reason="Never" />
<disable_collisions link1="r_lower_leg" link2="r_upper_leg" reason="Adjacent" />
<disable_collisions link1="r_lower_leg" link2="r_foot" reason="Adjacent" />
<disable_collisions link1="r_lower_leg" link2="rlb" reason="Never" />
<disable_collisions link1="r_lower_leg" link2="rlf" reason="Never" />
<disable_collisions link1="r_lower_leg" link2="rrb" reason="Never" />
Expand Down