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Gepetto
example-robot-data
Commits
0fae275d
Commit
0fae275d
authored
2 months ago
by
Florent Lamiraux
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[baxter_description] Add srdf file for HPP benchmarks.
parent
ec2105d3
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robots/baxter_description/srdf/baxter_manipulation.srdf
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0fae275d
<?xml version="1.0" ?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot
name=
"baxter"
>
<gripper
name=
"l_gripper"
clearance=
"0.025"
>
<link
name=
"left_gripper"
/>
<position>
0 0 -0.005 -0.7071067811865476 0 0.7071067811865476 0
</position>
</gripper>
<gripper
name=
"r_gripper"
clearance=
"0.025"
>
<link
name=
"right_gripper"
/>
<position>
0 0 -0.005 -0.7071067811865476 0 0.7071067811865476 0
</position>
</gripper>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions
link1=
"collision_head_link_1"
link2=
"collision_head_link_2"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"collision_head_link_1"
link2=
"display"
reason=
"Default"
/>
<disable_collisions
link1=
"collision_head_link_1"
link2=
"head"
reason=
"Default"
/>
<disable_collisions
link1=
"collision_head_link_1"
link2=
"left_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"collision_head_link_1"
link2=
"left_upper_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"collision_head_link_1"
link2=
"left_upper_elbow_visual"
reason=
"User"
/>
<disable_collisions
link1=
"collision_head_link_1"
link2=
"left_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"collision_head_link_1"
link2=
"left_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"collision_head_link_1"
link2=
"pedestal"
reason=
"Never"
/>
<disable_collisions
link1=
"collision_head_link_1"
link2=
"right_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"collision_head_link_1"
link2=
"right_upper_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"collision_head_link_1"
link2=
"right_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"collision_head_link_1"
link2=
"right_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"collision_head_link_1"
link2=
"screen"
reason=
"Default"
/>
<disable_collisions
link1=
"collision_head_link_1"
link2=
"sonar_ring"
reason=
"Default"
/>
<disable_collisions
link1=
"collision_head_link_1"
link2=
"torso"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"collision_head_link_2"
link2=
"display"
reason=
"Default"
/>
<disable_collisions
link1=
"collision_head_link_2"
link2=
"head"
reason=
"Default"
/>
<disable_collisions
link1=
"collision_head_link_2"
link2=
"left_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"collision_head_link_2"
link2=
"left_upper_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"collision_head_link_2"
link2=
"left_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"collision_head_link_2"
link2=
"left_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"collision_head_link_2"
link2=
"pedestal"
reason=
"Never"
/>
<disable_collisions
link1=
"collision_head_link_2"
link2=
"right_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"collision_head_link_2"
link2=
"right_upper_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"collision_head_link_2"
link2=
"right_upper_elbow_visual"
reason=
"User"
/>
<disable_collisions
link1=
"collision_head_link_2"
link2=
"right_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"collision_head_link_2"
link2=
"right_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"collision_head_link_2"
link2=
"screen"
reason=
"Default"
/>
<disable_collisions
link1=
"collision_head_link_2"
link2=
"sonar_ring"
reason=
"Default"
/>
<disable_collisions
link1=
"collision_head_link_2"
link2=
"torso"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"display"
link2=
"head"
reason=
"Never"
/>
<disable_collisions
link1=
"display"
link2=
"left_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"display"
link2=
"left_upper_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"display"
link2=
"left_upper_elbow_visual"
reason=
"User"
/>
<disable_collisions
link1=
"display"
link2=
"left_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"display"
link2=
"left_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"display"
link2=
"pedestal"
reason=
"Never"
/>
<disable_collisions
link1=
"display"
link2=
"right_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"display"
link2=
"right_upper_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"display"
link2=
"right_upper_elbow_visual"
reason=
"User"
/>
<disable_collisions
link1=
"display"
link2=
"right_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"display"
link2=
"right_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"display"
link2=
"screen"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"display"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"display"
link2=
"torso"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"left_gripper"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"left_hand_accelerometer_link"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"left_hand_camera_link"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"left_hand_range_link"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"left_lower_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"left_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"left_upper_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"left_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"left_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"head"
link2=
"left_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"pedestal"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"right_gripper"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"right_hand_accelerometer_link"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"right_hand_camera_link"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"right_hand_range_link"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"right_lower_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"right_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"right_upper_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"right_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"right_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"head"
link2=
"right_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"screen"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"head"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"head"
link2=
"torso"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"left_gripper"
link2=
"left_gripper_base_link"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"left_gripper"
link2=
"left_hand_link"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper"
link2=
"left_hand_accelerometer_link"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper"
link2=
"left_hand_camera_link"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper"
link2=
"left_hand_range_link"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper"
link2=
"left_lower_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper"
link2=
"left_lower_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper"
link2=
"left_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper"
link2=
"left_upper_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper"
link2=
"left_upper_forearm_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper"
link2=
"left_wrist"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper"
link2=
"right_gripper"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper"
link2=
"right_hand_accelerometer_link"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper"
link2=
"right_hand_range_link"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper"
link2=
"right_upper_elbow_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_gripper"
link2=
"right_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_gripper"
link2=
"screen"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper_base_link"
link2=
"left_hand_link"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"left_gripper_base_link"
link2=
"left_hand_accelerometer_link"
reason=
"Default"
/>
<disable_collisions
link1=
"left_gripper_base_link"
link2=
"left_hand_camera_link"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper_base_link"
link2=
"left_hand_range_link"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper_base_link"
link2=
"left_lower_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper_base_link"
link2=
"left_lower_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper_base_link"
link2=
"left_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper_base_link"
link2=
"left_upper_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper_base_link"
link2=
"left_upper_forearm_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_gripper_base_link"
link2=
"left_wrist"
reason=
"Default"
/>
<disable_collisions
link1=
"left_gripper_base_link"
link2=
"right_upper_elbow_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_gripper_base_link"
link2=
"right_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_hand_link"
link2=
"left_hand_accelerometer_link"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"left_hand_link"
link2=
"left_hand_camera_link"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"left_hand_link"
link2=
"left_hand_range_link"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"left_hand_link"
link2=
"left_lower_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_link"
link2=
"left_lower_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_link"
link2=
"left_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_link"
link2=
"left_upper_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_link"
link2=
"left_upper_forearm_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_link"
link2=
"left_wrist"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"left_hand_accelerometer_link"
link2=
"left_hand_camera_link"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_accelerometer_link"
link2=
"left_hand_range_link"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_accelerometer_link"
link2=
"left_lower_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_accelerometer_link"
link2=
"left_lower_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_accelerometer_link"
link2=
"left_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_accelerometer_link"
link2=
"left_upper_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_accelerometer_link"
link2=
"left_upper_forearm_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_accelerometer_link"
link2=
"left_wrist"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_accelerometer_link"
link2=
"right_gripper"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_accelerometer_link"
link2=
"right_hand_accelerometer_link"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_accelerometer_link"
link2=
"right_hand_range_link"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_accelerometer_link"
link2=
"right_upper_elbow_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_hand_accelerometer_link"
link2=
"right_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_hand_accelerometer_link"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_camera_link"
link2=
"left_hand_range_link"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_camera_link"
link2=
"left_lower_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_camera_link"
link2=
"left_lower_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_camera_link"
link2=
"left_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_camera_link"
link2=
"left_upper_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_camera_link"
link2=
"left_upper_forearm_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_camera_link"
link2=
"left_wrist"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_camera_link"
link2=
"right_gripper"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_camera_link"
link2=
"right_hand_range_link"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_camera_link"
link2=
"right_upper_elbow_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_hand_camera_link"
link2=
"right_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_hand_camera_link"
link2=
"screen"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_range_link"
link2=
"left_lower_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_range_link"
link2=
"left_lower_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_range_link"
link2=
"left_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_range_link"
link2=
"left_upper_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_range_link"
link2=
"left_upper_forearm_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_range_link"
link2=
"left_wrist"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_range_link"
link2=
"right_gripper"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_range_link"
link2=
"right_hand_accelerometer_link"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_range_link"
link2=
"right_hand_camera_link"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_range_link"
link2=
"right_hand_range_link"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_range_link"
link2=
"right_upper_elbow_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_hand_range_link"
link2=
"right_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_hand_range_link"
link2=
"screen"
reason=
"Never"
/>
<disable_collisions
link1=
"left_hand_range_link"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_elbow"
link2=
"left_lower_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_elbow"
link2=
"left_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_elbow"
link2=
"left_upper_elbow"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"left_lower_elbow"
link2=
"left_upper_elbow_visual"
reason=
"Default"
/>
<disable_collisions
link1=
"left_lower_elbow"
link2=
"left_upper_forearm"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"left_lower_elbow"
link2=
"left_upper_forearm_visual"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"left_lower_elbow"
link2=
"left_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_elbow"
link2=
"left_wrist"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_elbow"
link2=
"pedestal"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_elbow"
link2=
"right_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_elbow"
link2=
"right_upper_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_elbow"
link2=
"right_upper_elbow_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_lower_elbow"
link2=
"right_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_lower_elbow"
link2=
"right_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_elbow"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_elbow"
link2=
"torso"
reason=
"User"
/>
<disable_collisions
link1=
"left_lower_forearm"
link2=
"left_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_forearm"
link2=
"left_upper_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_forearm"
link2=
"left_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_forearm"
link2=
"left_upper_forearm"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"left_lower_forearm"
link2=
"left_upper_forearm_visual"
reason=
"Default"
/>
<disable_collisions
link1=
"left_lower_forearm"
link2=
"left_wrist"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"left_lower_forearm"
link2=
"right_upper_elbow_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_lower_forearm"
link2=
"right_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_lower_shoulder"
link2=
"left_upper_elbow"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"left_lower_shoulder"
link2=
"left_upper_elbow_visual"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"left_lower_shoulder"
link2=
"left_upper_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_shoulder"
link2=
"left_upper_forearm_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_shoulder"
link2=
"left_upper_shoulder"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"left_lower_shoulder"
link2=
"pedestal"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_shoulder"
link2=
"right_lower_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_shoulder"
link2=
"right_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_shoulder"
link2=
"right_upper_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_shoulder"
link2=
"right_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_shoulder"
link2=
"right_upper_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_shoulder"
link2=
"right_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_lower_shoulder"
link2=
"right_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_shoulder"
link2=
"screen"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_shoulder"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"left_lower_shoulder"
link2=
"torso"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow"
link2=
"left_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow"
link2=
"left_upper_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow"
link2=
"left_upper_forearm_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow"
link2=
"left_upper_shoulder"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_elbow"
link2=
"pedestal"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow"
link2=
"right_lower_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow"
link2=
"right_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow"
link2=
"right_upper_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow"
link2=
"right_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow"
link2=
"right_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_elbow"
link2=
"right_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow"
link2=
"screen"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow"
link2=
"torso"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"left_upper_forearm"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"left_upper_forearm_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"left_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"left_wrist"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"pedestal"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"right_gripper"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"right_gripper_base_link"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"right_hand_link"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"right_hand_accelerometer_link"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"right_hand_camera_link"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"right_hand_range_link"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"right_lower_elbow"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"right_lower_forearm"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"right_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"right_upper_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"right_upper_elbow_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"right_upper_forearm"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"right_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"right_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"right_wrist"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"screen"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_elbow_visual"
link2=
"torso"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm"
link2=
"left_upper_forearm_visual"
reason=
"Default"
/>
<disable_collisions
link1=
"left_upper_forearm"
link2=
"left_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_forearm"
link2=
"left_wrist"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_forearm"
link2=
"right_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_forearm"
link2=
"right_upper_elbow_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm"
link2=
"right_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm"
link2=
"right_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"left_upper_shoulder"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"left_wrist"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"pedestal"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"right_gripper"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"right_gripper_base_link"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"right_hand_link"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"right_hand_accelerometer_link"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"right_hand_camera_link"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"right_hand_range_link"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"right_lower_elbow"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"right_lower_forearm"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"right_lower_shoulder"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"right_upper_elbow"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"right_upper_elbow_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"right_upper_forearm"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"right_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"right_upper_shoulder"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"right_wrist"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"screen"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"sonar_ring"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_forearm_visual"
link2=
"torso"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_shoulder"
link2=
"pedestal"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_shoulder"
link2=
"right_lower_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_shoulder"
link2=
"right_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_shoulder"
link2=
"right_upper_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_shoulder"
link2=
"right_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_shoulder"
link2=
"right_upper_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_shoulder"
link2=
"right_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_upper_shoulder"
link2=
"right_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_shoulder"
link2=
"screen"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_shoulder"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"left_upper_shoulder"
link2=
"torso"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"left_wrist"
link2=
"right_upper_elbow_visual"
reason=
"User"
/>
<disable_collisions
link1=
"left_wrist"
link2=
"right_upper_forearm_visual"
reason=
"User"
/>
<disable_collisions
link1=
"pedestal"
link2=
"right_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"pedestal"
link2=
"right_upper_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"pedestal"
link2=
"right_upper_elbow_visual"
reason=
"User"
/>
<disable_collisions
link1=
"pedestal"
link2=
"right_upper_forearm"
reason=
"Default"
/>
<disable_collisions
link1=
"pedestal"
link2=
"right_upper_forearm_visual"
reason=
"Default"
/>
<disable_collisions
link1=
"pedestal"
link2=
"right_upper_shoulder"
reason=
"Default"
/>
<disable_collisions
link1=
"pedestal"
link2=
"screen"
reason=
"Never"
/>
<disable_collisions
link1=
"pedestal"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"pedestal"
link2=
"torso"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"right_gripper"
link2=
"right_gripper_base_link"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"right_gripper"
link2=
"right_hand_link"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper"
link2=
"right_hand_accelerometer_link"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper"
link2=
"right_hand_camera_link"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper"
link2=
"right_hand_range_link"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper"
link2=
"right_lower_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper"
link2=
"right_lower_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper"
link2=
"right_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper"
link2=
"right_upper_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper"
link2=
"right_upper_forearm_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper"
link2=
"right_wrist"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper"
link2=
"screen"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper_base_link"
link2=
"right_hand_link"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"right_gripper_base_link"
link2=
"right_hand_accelerometer_link"
reason=
"Default"
/>
<disable_collisions
link1=
"right_gripper_base_link"
link2=
"right_hand_camera_link"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper_base_link"
link2=
"right_hand_range_link"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper_base_link"
link2=
"right_lower_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper_base_link"
link2=
"right_lower_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper_base_link"
link2=
"right_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper_base_link"
link2=
"right_upper_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper_base_link"
link2=
"right_upper_forearm_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"right_gripper_base_link"
link2=
"right_wrist"
reason=
"Default"
/>
<disable_collisions
link1=
"right_gripper_base_link"
link2=
"screen"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_link"
link2=
"right_hand_accelerometer_link"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"right_hand_link"
link2=
"right_hand_camera_link"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"right_hand_link"
link2=
"right_hand_range_link"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"right_hand_link"
link2=
"right_lower_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_link"
link2=
"right_lower_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_link"
link2=
"right_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_link"
link2=
"right_upper_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_link"
link2=
"right_upper_forearm_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_link"
link2=
"right_wrist"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"right_hand_accelerometer_link"
link2=
"right_hand_camera_link"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_accelerometer_link"
link2=
"right_hand_range_link"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_accelerometer_link"
link2=
"right_lower_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_accelerometer_link"
link2=
"right_lower_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_accelerometer_link"
link2=
"right_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_accelerometer_link"
link2=
"right_upper_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_accelerometer_link"
link2=
"right_upper_forearm_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_accelerometer_link"
link2=
"right_wrist"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_accelerometer_link"
link2=
"screen"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_accelerometer_link"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_camera_link"
link2=
"right_hand_range_link"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_camera_link"
link2=
"right_lower_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_camera_link"
link2=
"right_lower_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_camera_link"
link2=
"right_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_camera_link"
link2=
"right_upper_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_camera_link"
link2=
"right_upper_forearm_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_camera_link"
link2=
"right_wrist"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_camera_link"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_range_link"
link2=
"right_lower_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_range_link"
link2=
"right_lower_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_range_link"
link2=
"right_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_range_link"
link2=
"right_upper_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_range_link"
link2=
"right_upper_forearm_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_range_link"
link2=
"right_wrist"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_range_link"
link2=
"screen"
reason=
"Never"
/>
<disable_collisions
link1=
"right_hand_range_link"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"right_lower_elbow"
link2=
"right_lower_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"right_lower_elbow"
link2=
"right_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"right_lower_elbow"
link2=
"right_upper_elbow"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"right_lower_elbow"
link2=
"right_upper_elbow_visual"
reason=
"Default"
/>
<disable_collisions
link1=
"right_lower_elbow"
link2=
"right_upper_forearm"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"right_lower_elbow"
link2=
"right_upper_forearm_visual"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"right_lower_elbow"
link2=
"right_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"right_lower_elbow"
link2=
"right_wrist"
reason=
"Never"
/>
<disable_collisions
link1=
"right_lower_elbow"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"right_lower_elbow"
link2=
"torso"
reason=
"User"
/>
<disable_collisions
link1=
"right_lower_forearm"
link2=
"right_lower_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"right_lower_forearm"
link2=
"right_upper_elbow"
reason=
"Never"
/>
<disable_collisions
link1=
"right_lower_forearm"
link2=
"right_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"right_lower_forearm"
link2=
"right_upper_forearm"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"right_lower_forearm"
link2=
"right_upper_forearm_visual"
reason=
"Default"
/>
<disable_collisions
link1=
"right_lower_forearm"
link2=
"right_wrist"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"right_lower_shoulder"
link2=
"right_upper_elbow"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"right_lower_shoulder"
link2=
"right_upper_elbow_visual"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"right_lower_shoulder"
link2=
"right_upper_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"right_lower_shoulder"
link2=
"right_upper_forearm_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"right_lower_shoulder"
link2=
"right_upper_shoulder"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"right_lower_shoulder"
link2=
"screen"
reason=
"Never"
/>
<disable_collisions
link1=
"right_lower_shoulder"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"right_lower_shoulder"
link2=
"torso"
reason=
"Never"
/>
<disable_collisions
link1=
"right_upper_elbow"
link2=
"right_upper_elbow_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"right_upper_elbow"
link2=
"right_upper_forearm"
reason=
"Never"
/>
<disable_collisions
link1=
"right_upper_elbow"
link2=
"right_upper_forearm_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"right_upper_elbow"
link2=
"right_upper_shoulder"
reason=
"User"
/>
<disable_collisions
link1=
"right_upper_elbow"
link2=
"screen"
reason=
"Never"
/>
<disable_collisions
link1=
"right_upper_elbow"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"right_upper_elbow"
link2=
"torso"
reason=
"Never"
/>
<disable_collisions
link1=
"right_upper_elbow_visual"
link2=
"right_upper_forearm"
reason=
"User"
/>
<disable_collisions
link1=
"right_upper_elbow_visual"
link2=
"right_upper_forearm_visual"
reason=
"Never"
/>
<disable_collisions
link1=
"right_upper_elbow_visual"
link2=
"right_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"right_upper_elbow_visual"
link2=
"right_wrist"
reason=
"Never"
/>
<disable_collisions
link1=
"right_upper_elbow_visual"
link2=
"screen"
reason=
"User"
/>
<disable_collisions
link1=
"right_upper_elbow_visual"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"right_upper_elbow_visual"
link2=
"torso"
reason=
"Never"
/>
<disable_collisions
link1=
"right_upper_forearm"
link2=
"right_upper_forearm_visual"
reason=
"Default"
/>
<disable_collisions
link1=
"right_upper_forearm"
link2=
"right_upper_shoulder"
reason=
"Never"
/>
<disable_collisions
link1=
"right_upper_forearm"
link2=
"right_wrist"
reason=
"Never"
/>
<disable_collisions
link1=
"right_upper_forearm_visual"
link2=
"right_upper_shoulder"
reason=
"User"
/>
<disable_collisions
link1=
"right_upper_forearm_visual"
link2=
"right_wrist"
reason=
"User"
/>
<disable_collisions
link1=
"right_upper_forearm_visual"
link2=
"screen"
reason=
"User"
/>
<disable_collisions
link1=
"right_upper_forearm_visual"
link2=
"sonar_ring"
reason=
"User"
/>
<disable_collisions
link1=
"right_upper_forearm_visual"
link2=
"torso"
reason=
"User"
/>
<disable_collisions
link1=
"right_upper_shoulder"
link2=
"screen"
reason=
"Never"
/>
<disable_collisions
link1=
"right_upper_shoulder"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"right_upper_shoulder"
link2=
"torso"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"screen"
link2=
"sonar_ring"
reason=
"Never"
/>
<disable_collisions
link1=
"screen"
link2=
"torso"
reason=
"Never"
/>
<disable_collisions
link1=
"sonar_ring"
link2=
"torso"
reason=
"Adjacent"
/>
<disable_collisions
link1=
"l_gripper_l_finger"
link2=
"l_gripper_l_finger_tip"
reason=
"User"
/>
<disable_collisions
link1=
"l_gripper_l_finger"
link2=
"l_gripper_r_finger"
reason=
"User"
/>
<disable_collisions
link1=
"l_gripper_l_finger"
link2=
"left_gripper_base_link"
reason=
"User"
/>
<disable_collisions
link1=
"l_gripper_r_finger"
link2=
"l_gripper_r_finger_tip"
reason=
"User"
/>
<disable_collisions
link1=
"l_gripper_r_finger"
link2=
"left_gripper_base_link"
reason=
"User"
/>
<disable_collisions
link1=
"r_gripper_l_finger"
link2=
"r_gripper_l_finger_tip"
reason=
"User"
/>
<disable_collisions
link1=
"r_gripper_l_finger"
link2=
"r_gripper_r_finger"
reason=
"User"
/>
<disable_collisions
link1=
"r_gripper_l_finger"
link2=
"right_gripper_base_link"
reason=
"User"
/>
<disable_collisions
link1=
"r_gripper_l_finger"
link2=
"right_gripper_base_link"
reason=
"User"
/>
<disable_collisions
link1=
"r_gripper_r_finger"
link2=
"r_gripper_r_finger_tip"
reason=
"User"
/>
<disable_collisions
link1=
"r_gripper_r_finger"
link2=
"right_gripper_base_link"
reason=
"User"
/>
</robot>
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