From 8ad57bf2d7fad97d80438f41da0e309afbf90c4d Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Tue, 31 Aug 2021 15:18:21 +0000
Subject: [PATCH] Automatic build. GitHub Actions build: 1186671764
 icub-model-generator commit:
 robotology/icub-models-generator@36ca1b948c6b35dd30246145af28176a27e4326d
 urdf_parser_py commit:
 ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3
 simmechanics-to-urdf commit:
 robotology/simmechanics-to-urdf@1eb31b4e2d86e091c59cbe3cfc62d1e5265d7d61

---
 iCub/robots/iCubGazeboV3/model.urdf | 38 -----------------------------
 iCub/robots/iCubGenova09/model.urdf | 38 -----------------------------
 2 files changed, 76 deletions(-)

diff --git a/iCub/robots/iCubGazeboV3/model.urdf b/iCub/robots/iCubGazeboV3/model.urdf
index 61393c0..6b3868d 100644
--- a/iCub/robots/iCubGazeboV3/model.urdf
+++ b/iCub/robots/iCubGazeboV3/model.urdf
@@ -1515,44 +1515,6 @@
 </gazebo>
   <gazebo reference="r_wrist_yaw">
   <implicitSpringDamper>1</implicitSpringDamper>
-</gazebo>
-  <gazebo reference="r_upper_arm">
-  <selfCollide>true</selfCollide>
-  <collision>
-    <surface>
-      <contact>
-        <collide_without_contact>true</collide_without_contact>
-        <ode/>
-      </contact>
-      <friction>
-        <ode/>
-      </friction>
-    </surface>
-  </collision>
-  <sensor name="r_upper_arm_collision_sensor" type="contact">
-    <contact>
-      <collision>collision_right</collision>
-    </contact>
-  </sensor>
-</gazebo>
-  <gazebo reference="l_upper_arm">
-  <selfCollide>true</selfCollide>
-  <collision>
-    <surface>
-      <contact>
-        <collide_without_contact>true</collide_without_contact>
-        <ode/>
-      </contact>
-      <friction>
-        <ode/>
-      </friction>
-    </surface>
-  </collision>
-  <sensor name="l_upper_arm_collision_sensor" type="contact">
-    <contact>
-      <collision>collision_left</collision>
-    </contact>
-  </sensor>
 </gazebo>
   <gazebo reference="l_arm_ft_sensor">
     <sensor name="l_arm_ft_sensor" type="force_torque">
diff --git a/iCub/robots/iCubGenova09/model.urdf b/iCub/robots/iCubGenova09/model.urdf
index 9bc0c5f..60688ba 100644
--- a/iCub/robots/iCubGenova09/model.urdf
+++ b/iCub/robots/iCubGenova09/model.urdf
@@ -1515,44 +1515,6 @@
 </gazebo>
   <gazebo reference="r_wrist_yaw">
   <implicitSpringDamper>1</implicitSpringDamper>
-</gazebo>
-  <gazebo reference="r_upper_arm">
-  <selfCollide>true</selfCollide>
-  <collision>
-    <surface>
-      <contact>
-        <collide_without_contact>true</collide_without_contact>
-        <ode/>
-      </contact>
-      <friction>
-        <ode/>
-      </friction>
-    </surface>
-  </collision>
-  <sensor name="r_upper_arm_collision_sensor" type="contact">
-    <contact>
-      <collision>collision_right</collision>
-    </contact>
-  </sensor>
-</gazebo>
-  <gazebo reference="l_upper_arm">
-  <selfCollide>true</selfCollide>
-  <collision>
-    <surface>
-      <contact>
-        <collide_without_contact>true</collide_without_contact>
-        <ode/>
-      </contact>
-      <friction>
-        <ode/>
-      </friction>
-    </surface>
-  </collision>
-  <sensor name="l_upper_arm_collision_sensor" type="contact">
-    <contact>
-      <collision>collision_left</collision>
-    </contact>
-  </sensor>
 </gazebo>
   <gazebo reference="l_arm_ft_sensor">
     <sensor name="l_arm_ft_sensor" type="force_torque">