Provide detailed and coarse collision models#199
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gollth merged 20 commits intofrankaemika:developfrom rhaschke:modular-xacroApr 22, 2022
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Merge pull request frankaemika#185 in SWDEV/franka_ros from SRR-1201/capsule-macro to SRR-1201/self-collision-geometries
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