From c71a0fa7ee4ebd1c7bc957418eb0f82c7bc1e035 Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Wed, 13 Dec 2023 07:50:28 -0800
Subject: [PATCH] Add contact exclusion between iiwa14 links that can't
 collide.

Those parts of the robot can't self-collide, but the bounding boxes can, so they're not eliminated by broadphase or the first level of midphase.

PiperOrigin-RevId: 590596376
Change-Id: Iaac130359af85fd87ca28889cb32de258db7ffbf
---
 kuka_iiwa_14/iiwa14.xml | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/kuka_iiwa_14/iiwa14.xml b/kuka_iiwa_14/iiwa14.xml
index adf4925c..7ddda365 100644
--- a/kuka_iiwa_14/iiwa14.xml
+++ b/kuka_iiwa_14/iiwa14.xml
@@ -150,6 +150,12 @@
 
   <contact>
     <exclude body1="base" body2="link1"/>
+    <exclude body1="base" body2="link2"/>
+    <exclude body1="base" body2="link3"/>
+    <exclude body1="link1" body2="link3"/>
+    <exclude body1="link3" body2="link5"/>
+    <exclude body1="link4" body2="link7"/>
+    <exclude body1="link5" body2="link7"/>
   </contact>
 
   <actuator>