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omx_moveit srdf file modification#372

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mysteryholic wants to merge 2 commits into
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feature-moveit-srdf
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omx_moveit srdf file modification#372
mysteryholic wants to merge 2 commits into
mainfrom
feature-moveit-srdf

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@mysteryholic

@mysteryholic mysteryholic commented Jun 18, 2026

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This change updates the MoveIt configuration to resolve a self-collision issue between the gripper links. The detected collision was preventing MoveIt from planning valid paths, so collision checking between these links has been disabled.

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modify_omx_srdf
ce5dd0e 
Signed-off-by: dayeol kang <kangdy1997@gmail.com>
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gemini-code-assist Bot reviewed Jun 18, 2026
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Code Review

This pull request updates the SRDF configuration for the open manipulator to disable collisions between link6 and link7. The reviewer noted that these links are not adjacent, so the reason attribute should be changed from 'Adjacent' to 'Default' or 'Never' to prevent semantic errors in MoveIt.

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Comment thread open_manipulator_moveit_config/config/omx_f/omx_f.srdf Outdated
@mysteryholic mysteryholic added the bug Something isn't working label Jun 18, 2026
@mysteryholic mysteryholic moved this to 📝 Pull Request in Platform Jun 18, 2026
@mysteryholic mysteryholic added duplicate This issue or pull request already exists and removed bug Something isn't working labels Jun 18, 2026
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tag_fixed
fcb786b 
Signed-off-by: dayeol kang <kangdy1997@gmail.com>
@YoungWook0533 YoungWook0533 added bug Something isn't working and removed duplicate This issue or pull request already exists labels Jun 18, 2026
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YoungWook0533 approved these changes Jun 18, 2026
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Great!

sunghowoo

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sunghowoo
sunghowoo requested changes Jun 23, 2026
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Add changelogs

@sunghowoo

sunghowoo commented Jun 25, 2026

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I will close this PR, as it will be merged into the next PR and submitted again.

@sunghowoo sunghowoo closed this Jun 25, 2026
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@sunghowoo sunghowoo sunghowoo requested changes
@YoungWook0533 YoungWook0533 YoungWook0533 approved these changes
@GyuH13 GyuH13 Awaiting requested review from GyuH13
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