desk.srdf 1.07 KB
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<?xml version="1.0"?>

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<robot name="desk">
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	<disable_collisions link1="board" link2="upper_drawer_background" />
	<disable_collisions link1="board" link2="upper_drawer_front" />
	<disable_collisions link1="board" link2="upper_drawer_left" />
	<disable_collisions link1="board" link2="upper_drawer_right" />

	<disable_collisions link1="upper_case_background" link2="upper_drawer_bottom" />
	<disable_collisions link1="upper_case_bottom" link2="upper_drawer_front" />
	<disable_collisions link1="upper_drawer_bottom" link2="upper_case_left" />
	<disable_collisions link1="upper_drawer_bottom" link2="upper_case_right" />
	<disable_collisions link1="upper_drawer_background" link2="upper_case_left" />
	<disable_collisions link1="upper_drawer_background" link2="upper_case_right" />
	<disable_collisions link1="upper_drawer_front" link2="upper_case_left" />
	<disable_collisions link1="upper_drawer_front" link2="upper_case_right" />
	<disable_collisions link1="upper_drawer_left" link2="upper_case_left" />
	<disable_collisions link1="upper_drawer_right" link2="upper_case_right" />
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</robot>