update ACM for links that don't collide

PickNikRobotics · Jan 15, 2025 · 0a3743f · 0a3743f
1 parent 0893214
commit 0a3743f
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/config/moveit/picknik_ur.srdf b/src/moveit_pro_mobile_manipulation/picknik_ur_mobile_config/config/moveit/picknik_ur.srdf
@@ -230,4 +230,6 @@
     <disable_collisions link1="ur_arm_wrist_1_link" link2="ur_arm_wrist_2_link" reason="Adjacent"/>
     <disable_collisions link1="ur_arm_wrist_1_link" link2="ur_arm_wrist_3_link" reason="Never"/>
     <disable_collisions link1="ur_arm_wrist_2_link" link2="ur_arm_wrist_3_link" reason="Adjacent"/>
+    <disable_collisions link1="base_link_inertia" link2="riser_link" reason="Never"/>
+    <disable_collisions link1="base_link_inertia" link2="chassis_link" reason="Never"/>
 </robot>