From 6209e9ac7435d42dc893842f38da465a1e0066e9 Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <budhiraja@laas.fr>
Date: Thu, 15 Dec 2016 14:29:03 +0100
Subject: [PATCH] [srdf] add srdf file.
*Defines the half-sitting position
*Defines common kinematic chains
*Disables "always in collision", "never in collision" and "adjacent" collision pairs after sampling of Configuration Space with Moveit.
---
talos_description/CMakeLists.txt | 2 +-
talos_description/srdf/talos.srdf | 610 ++++++++++++++++++++++++++++++
2 files changed, 611 insertions(+), 1 deletion(-)
create mode 100644 talos_description/srdf/talos.srdf
diff --git a/talos_description/CMakeLists.txt b/talos_description/CMakeLists.txt
index fe49d16..f509820 100644
--- a/talos_description/CMakeLists.txt
+++ b/talos_description/CMakeLists.txt
@@ -10,7 +10,7 @@ catkin_package(
# DEPENDS system_lib
)
-foreach(dir config gazebo meshes robots urdf)
+foreach(dir config gazebo meshes robots urdf srdf)
install(DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach(dir)
diff --git a/talos_description/srdf/talos.srdf b/talos_description/srdf/talos.srdf
new file mode 100644
index 0000000..eb9d325
--- /dev/null
+++ b/talos_description/srdf/talos.srdf
@@ -0,0 +1,610 @@
+<?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="talos">
+ <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+ <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+ <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+ <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+ <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+ <group name="l_arm">
+ <joint name="arm_left_1_joint" />
+ <joint name="arm_left_2_joint" />
+ <joint name="arm_left_3_joint" />
+ <joint name="arm_left_4_joint" />
+ <joint name="arm_left_5_joint" />
+ <joint name="arm_left_6_joint" />
+ <joint name="arm_left_7_joint" />
+ </group>
+ <group name="r_arm">
+ <joint name="arm_right_1_joint" />
+ <joint name="arm_right_2_joint" />
+ <joint name="arm_right_3_joint" />
+ <joint name="arm_right_4_joint" />
+ <joint name="arm_right_5_joint" />
+ <joint name="arm_right_6_joint" />
+ <joint name="arm_right_7_joint" />
+ </group>
+ <group name="l_leg">
+ <joint name="leg_left_1_joint" />
+ <joint name="leg_left_2_joint" />
+ <joint name="leg_left_3_joint" />
+ <joint name="leg_left_4_joint" />
+ <joint name="leg_left_5_joint" />
+ <joint name="leg_left_6_joint" />
+ </group>
+ <group name="r_leg">
+ <joint name="leg_right_1_joint" />
+ <joint name="leg_right_2_joint" />
+ <joint name="leg_right_3_joint" />
+ <joint name="leg_right_4_joint" />
+ <joint name="leg_right_5_joint" />
+ <joint name="leg_right_6_joint" />
+ </group>
+ <group name="head">
+ <joint name="head_1_joint" />
+ <joint name="head_2_joint" />
+ </group>
+ <group name="torso">
+ <link name="base_link" />
+ <joint name="torso_1_joint" />
+ <joint name="torso_2_joint" />
+ </group>
+ <group name="all">
+ <group name="l_arm" />
+ <group name="r_arm" />
+ <group name="l_leg" />
+ <group name="r_leg" />
+ <group name="head" />
+ <group name="torso" />
+ </group>
+ <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+ <group_state name="half_sitting" group="all">
+ <joint name="arm_left_1_joint" value="0.25847" />
+ <joint name="arm_left_2_joint" value="0.173046" />
+ <joint name="arm_left_3_joint" value="-0.0002" />
+ <joint name="arm_left_4_joint" value="-0.525366" />
+ <joint name="arm_left_5_joint" value="0" />
+ <joint name="arm_left_6_joint" value="0" />
+ <joint name="arm_left_7_joint" value="0.1" />
+ <joint name="arm_right_1_joint" value="-0.25847" />
+ <joint name="arm_right_2_joint" value="-0.173046" />
+ <joint name="arm_right_3_joint" value="0.0002" />
+ <joint name="arm_right_4_joint" value="-0.525366" />
+ <joint name="arm_right_5_joint" value="0" />
+ <joint name="arm_right_6_joint" value="0" />
+ <joint name="arm_right_7_joint" value="0.1" />
+ <joint name="head_1_joint" value="0" />
+ <joint name="head_2_joint" value="0" />
+ <joint name="leg_left_1_joint" value="0.000093" />
+ <joint name="leg_left_2_joint" value="0.000406" />
+ <joint name="leg_left_3_joint" value="-0.449102" />
+ <joint name="leg_left_4_joint" value="0.859395" />
+ <joint name="leg_left_5_joint" value="-0.448041" />
+ <joint name="leg_left_6_joint" value="-0.001708" />
+ <joint name="leg_right_1_joint" value="0.000093" />
+ <joint name="leg_right_2_joint" value="0.000406" />
+ <joint name="leg_right_3_joint" value="-0.449102" />
+ <joint name="leg_right_4_joint" value="0.859395" />
+ <joint name="leg_right_5_joint" value="-0.448041" />
+ <joint name="leg_right_6_joint" value="-0.001708" />
+ <joint name="torso_1_joint" value="0" />
+ <joint name="torso_2_joint" value="0.006761" />
+ </group_state>
+
+ <!--
+ Talos Specificities.
+ foot height = y axis
+ foot width = x axis
+ foot depth = z axis
+ -->
+ <specificities>
+ <feet>
+ <right>
+ <size height="0.122" width="0.205" depth="0.107" />
+ <anklePosition x="0.0" y="0.0" z="0.107" />
+ </right>
+ <left>
+ <size height="0.122" width="0.205" depth="0.107" />
+ <anklePosition x="0.0" y="0.0" z="0.107" />
+ </left>
+ </feet>
+ </specificities>
+
+ <!--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.
+
+TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant. Kindly see http://docs.ros.org/hydro/api/moveit_setup_assistant/html/doc/tutorial.html for details. -->
+
+
+ <disable_collisions link1="arm_left_1_link" link2="arm_left_2_link" reason="Adjacent" />
+ <disable_collisions link1="arm_left_1_link" link2="arm_left_3_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="arm_left_4_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="arm_left_5_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="arm_left_6_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="arm_left_7_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="arm_right_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="arm_right_2_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="arm_right_3_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="arm_right_4_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="arm_right_5_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="arm_right_6_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="arm_right_7_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="base_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="head_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="head_2_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="imu_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="leg_left_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="leg_left_2_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="leg_left_3_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="leg_left_4_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="leg_left_5_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="leg_left_6_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="leg_right_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="leg_right_2_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="leg_right_3_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="leg_right_4_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="leg_right_5_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="leg_right_6_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="rgbd_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="torso_2_link" reason="Adjacent" />
+ <disable_collisions link1="arm_left_1_link" link2="wrist_left_ft_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="wrist_left_ft_tool_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="wrist_right_ft_link" reason="Never" />
+ <disable_collisions link1="arm_left_1_link" link2="wrist_right_ft_tool_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="arm_left_3_link" reason="Adjacent" />
+ <disable_collisions link1="arm_left_2_link" link2="arm_left_4_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="arm_left_5_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="arm_left_6_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="arm_left_7_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="arm_right_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="arm_right_2_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="arm_right_3_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="arm_right_4_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="base_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="head_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="imu_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="leg_left_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="leg_left_2_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="leg_left_3_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="leg_left_4_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="leg_left_5_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="leg_left_6_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="leg_right_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="leg_right_2_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="leg_right_3_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="leg_right_4_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="leg_right_5_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="leg_right_6_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="wrist_left_ft_link" reason="Never" />
+ <disable_collisions link1="arm_left_2_link" link2="wrist_left_ft_tool_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="arm_left_4_link" reason="Adjacent" />
+ <disable_collisions link1="arm_left_3_link" link2="arm_left_6_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="arm_left_7_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="arm_right_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="arm_right_2_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="arm_right_3_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="arm_right_4_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="gripper_left_base_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="gripper_left_fingertip_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="gripper_left_fingertip_2_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="gripper_left_fingertip_3_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="gripper_left_inner_double_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="gripper_left_inner_single_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="gripper_left_motor_double_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="gripper_left_motor_single_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="head_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="imu_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="leg_left_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="leg_left_2_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="leg_left_5_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="leg_left_6_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="leg_right_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="leg_right_2_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="leg_right_5_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="wrist_left_ft_link" reason="Never" />
+ <disable_collisions link1="arm_left_3_link" link2="wrist_left_ft_tool_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="arm_left_5_link" reason="Adjacent" />
+ <disable_collisions link1="arm_left_4_link" link2="arm_left_6_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="arm_left_7_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="arm_right_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="arm_right_2_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="arm_right_3_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="arm_right_4_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="gripper_left_base_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="gripper_left_fingertip_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="gripper_left_fingertip_2_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="gripper_left_fingertip_3_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="gripper_left_inner_double_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="gripper_left_inner_single_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="gripper_left_motor_double_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="gripper_left_motor_single_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="head_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="imu_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="leg_left_2_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="leg_right_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="leg_right_2_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="rgbd_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="wrist_left_ft_link" reason="Never" />
+ <disable_collisions link1="arm_left_4_link" link2="wrist_left_ft_tool_link" reason="Never" />
+ <disable_collisions link1="arm_left_5_link" link2="arm_left_6_link" reason="Adjacent" />
+ <disable_collisions link1="arm_left_5_link" link2="arm_left_7_link" reason="Default" />
+ <disable_collisions link1="arm_left_5_link" link2="arm_right_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_5_link" link2="gripper_left_base_link" reason="Never" />
+ <disable_collisions link1="arm_left_5_link" link2="gripper_left_fingertip_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_5_link" link2="gripper_left_fingertip_2_link" reason="Never" />
+ <disable_collisions link1="arm_left_5_link" link2="gripper_left_fingertip_3_link" reason="Never" />
+ <disable_collisions link1="arm_left_5_link" link2="gripper_left_inner_double_link" reason="Never" />
+ <disable_collisions link1="arm_left_5_link" link2="gripper_left_inner_single_link" reason="Never" />
+ <disable_collisions link1="arm_left_5_link" link2="gripper_left_motor_double_link" reason="Never" />
+ <disable_collisions link1="arm_left_5_link" link2="gripper_left_motor_single_link" reason="Never" />
+ <disable_collisions link1="arm_left_5_link" link2="wrist_left_ft_tool_link" reason="Never" />
+ <disable_collisions link1="arm_left_6_link" link2="arm_left_7_link" reason="Adjacent" />
+ <disable_collisions link1="arm_left_6_link" link2="arm_right_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_6_link" link2="gripper_left_base_link" reason="Never" />
+ <disable_collisions link1="arm_left_6_link" link2="gripper_left_fingertip_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_6_link" link2="gripper_left_fingertip_2_link" reason="Never" />
+ <disable_collisions link1="arm_left_6_link" link2="gripper_left_fingertip_3_link" reason="Never" />
+ <disable_collisions link1="arm_left_6_link" link2="gripper_left_inner_double_link" reason="Never" />
+ <disable_collisions link1="arm_left_6_link" link2="gripper_left_inner_single_link" reason="Never" />
+ <disable_collisions link1="arm_left_6_link" link2="gripper_left_motor_double_link" reason="Never" />
+ <disable_collisions link1="arm_left_6_link" link2="gripper_left_motor_single_link" reason="Never" />
+ <disable_collisions link1="arm_left_6_link" link2="wrist_left_ft_link" reason="Never" />
+ <disable_collisions link1="arm_left_6_link" link2="wrist_left_ft_tool_link" reason="Never" />
+ <disable_collisions link1="arm_left_7_link" link2="arm_right_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_7_link" link2="gripper_left_base_link" reason="Default" />
+ <disable_collisions link1="arm_left_7_link" link2="gripper_left_fingertip_1_link" reason="Never" />
+ <disable_collisions link1="arm_left_7_link" link2="gripper_left_fingertip_2_link" reason="Never" />
+ <disable_collisions link1="arm_left_7_link" link2="gripper_left_fingertip_3_link" reason="Never" />
+ <disable_collisions link1="arm_left_7_link" link2="gripper_left_inner_double_link" reason="Never" />
+ <disable_collisions link1="arm_left_7_link" link2="gripper_left_inner_single_link" reason="Never" />
+ <disable_collisions link1="arm_left_7_link" link2="gripper_left_motor_double_link" reason="Never" />
+ <disable_collisions link1="arm_left_7_link" link2="gripper_left_motor_single_link" reason="Never" />
+ <disable_collisions link1="arm_left_7_link" link2="leg_left_3_link" reason="Default" />
+ <disable_collisions link1="arm_left_7_link" link2="wrist_left_ft_link" reason="Adjacent" />
+ <disable_collisions link1="arm_left_7_link" link2="wrist_left_ft_tool_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="arm_right_2_link" reason="Adjacent" />
+ <disable_collisions link1="arm_right_1_link" link2="arm_right_3_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="arm_right_4_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="arm_right_5_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="arm_right_6_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="arm_right_7_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="base_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="head_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="head_2_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="imu_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="leg_left_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="leg_left_2_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="leg_left_3_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="leg_left_4_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="leg_left_5_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="leg_left_6_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="leg_right_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="leg_right_2_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="leg_right_3_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="leg_right_4_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="leg_right_5_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="leg_right_6_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="rgbd_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="torso_2_link" reason="Adjacent" />
+ <disable_collisions link1="arm_right_1_link" link2="wrist_left_ft_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="wrist_left_ft_tool_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="wrist_right_ft_link" reason="Never" />
+ <disable_collisions link1="arm_right_1_link" link2="wrist_right_ft_tool_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="arm_right_3_link" reason="Adjacent" />
+ <disable_collisions link1="arm_right_2_link" link2="arm_right_4_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="arm_right_5_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="arm_right_6_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="arm_right_7_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="base_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="head_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="imu_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="leg_left_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="leg_left_2_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="leg_left_3_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="leg_left_4_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="leg_left_5_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="leg_left_6_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="leg_right_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="leg_right_2_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="leg_right_3_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="leg_right_4_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="leg_right_5_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="leg_right_6_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="wrist_right_ft_link" reason="Never" />
+ <disable_collisions link1="arm_right_2_link" link2="wrist_right_ft_tool_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="arm_right_4_link" reason="Adjacent" />
+ <disable_collisions link1="arm_right_3_link" link2="arm_right_6_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="arm_right_7_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="gripper_right_base_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="gripper_right_fingertip_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="gripper_right_fingertip_2_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="gripper_right_fingertip_3_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="gripper_right_inner_double_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="gripper_right_inner_single_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="gripper_right_motor_double_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="gripper_right_motor_single_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="head_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="imu_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="leg_left_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="leg_left_2_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="leg_right_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="leg_right_2_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="leg_right_5_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="wrist_right_ft_link" reason="Never" />
+ <disable_collisions link1="arm_right_3_link" link2="wrist_right_ft_tool_link" reason="Never" />
+ <disable_collisions link1="arm_right_4_link" link2="arm_right_5_link" reason="Adjacent" />
+ <disable_collisions link1="arm_right_4_link" link2="arm_right_6_link" reason="Never" />
+ <disable_collisions link1="arm_right_4_link" link2="arm_right_7_link" reason="Never" />
+ <disable_collisions link1="arm_right_4_link" link2="gripper_right_base_link" reason="Never" />
+ <disable_collisions link1="arm_right_4_link" link2="gripper_right_fingertip_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_4_link" link2="gripper_right_fingertip_2_link" reason="Never" />
+ <disable_collisions link1="arm_right_4_link" link2="gripper_right_fingertip_3_link" reason="Never" />
+ <disable_collisions link1="arm_right_4_link" link2="gripper_right_inner_double_link" reason="Never" />
+ <disable_collisions link1="arm_right_4_link" link2="gripper_right_inner_single_link" reason="Never" />
+ <disable_collisions link1="arm_right_4_link" link2="gripper_right_motor_double_link" reason="Never" />
+ <disable_collisions link1="arm_right_4_link" link2="gripper_right_motor_single_link" reason="Never" />
+ <disable_collisions link1="arm_right_4_link" link2="head_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_4_link" link2="imu_link" reason="Never" />
+ <disable_collisions link1="arm_right_4_link" link2="leg_left_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_4_link" link2="leg_left_2_link" reason="Never" />
+ <disable_collisions link1="arm_right_4_link" link2="leg_left_5_link" reason="Never" />
+ <disable_collisions link1="arm_right_4_link" link2="leg_right_2_link" reason="Never" />
+ <disable_collisions link1="arm_right_4_link" link2="wrist_right_ft_link" reason="Never" />
+ <disable_collisions link1="arm_right_4_link" link2="wrist_right_ft_tool_link" reason="Never" />
+ <disable_collisions link1="arm_right_5_link" link2="arm_right_6_link" reason="Adjacent" />
+ <disable_collisions link1="arm_right_5_link" link2="arm_right_7_link" reason="Default" />
+ <disable_collisions link1="arm_right_5_link" link2="gripper_right_base_link" reason="Never" />
+ <disable_collisions link1="arm_right_5_link" link2="gripper_right_fingertip_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_5_link" link2="gripper_right_fingertip_2_link" reason="Never" />
+ <disable_collisions link1="arm_right_5_link" link2="gripper_right_fingertip_3_link" reason="Never" />
+ <disable_collisions link1="arm_right_5_link" link2="gripper_right_inner_double_link" reason="Never" />
+ <disable_collisions link1="arm_right_5_link" link2="gripper_right_inner_single_link" reason="Never" />
+ <disable_collisions link1="arm_right_5_link" link2="gripper_right_motor_double_link" reason="Never" />
+ <disable_collisions link1="arm_right_5_link" link2="gripper_right_motor_single_link" reason="Never" />
+ <disable_collisions link1="arm_right_5_link" link2="wrist_right_ft_tool_link" reason="Never" />
+ <disable_collisions link1="arm_right_6_link" link2="arm_right_7_link" reason="Adjacent" />
+ <disable_collisions link1="arm_right_6_link" link2="gripper_right_base_link" reason="Never" />
+ <disable_collisions link1="arm_right_6_link" link2="gripper_right_fingertip_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_6_link" link2="gripper_right_fingertip_2_link" reason="Never" />
+ <disable_collisions link1="arm_right_6_link" link2="gripper_right_fingertip_3_link" reason="Never" />
+ <disable_collisions link1="arm_right_6_link" link2="gripper_right_inner_double_link" reason="Never" />
+ <disable_collisions link1="arm_right_6_link" link2="gripper_right_inner_single_link" reason="Never" />
+ <disable_collisions link1="arm_right_6_link" link2="gripper_right_motor_double_link" reason="Never" />
+ <disable_collisions link1="arm_right_6_link" link2="gripper_right_motor_single_link" reason="Never" />
+ <disable_collisions link1="arm_right_6_link" link2="wrist_right_ft_link" reason="Never" />
+ <disable_collisions link1="arm_right_6_link" link2="wrist_right_ft_tool_link" reason="Never" />
+ <disable_collisions link1="arm_right_7_link" link2="gripper_right_base_link" reason="Default" />
+ <disable_collisions link1="arm_right_7_link" link2="gripper_right_fingertip_1_link" reason="Never" />
+ <disable_collisions link1="arm_right_7_link" link2="gripper_right_fingertip_2_link" reason="Never" />
+ <disable_collisions link1="arm_right_7_link" link2="gripper_right_fingertip_3_link" reason="Never" />
+ <disable_collisions link1="arm_right_7_link" link2="gripper_right_inner_double_link" reason="Never" />
+ <disable_collisions link1="arm_right_7_link" link2="gripper_right_inner_single_link" reason="Never" />
+ <disable_collisions link1="arm_right_7_link" link2="gripper_right_motor_double_link" reason="Never" />
+ <disable_collisions link1="arm_right_7_link" link2="gripper_right_motor_single_link" reason="Never" />
+ <disable_collisions link1="arm_right_7_link" link2="leg_right_3_link" reason="Default" />
+ <disable_collisions link1="arm_right_7_link" link2="wrist_right_ft_link" reason="Adjacent" />
+ <disable_collisions link1="arm_right_7_link" link2="wrist_right_ft_tool_link" reason="Never" />
+ <disable_collisions link1="base_link" link2="head_1_link" reason="Never" />
+ <disable_collisions link1="base_link" link2="head_2_link" reason="Never" />
+ <disable_collisions link1="base_link" link2="imu_link" reason="Never" />
+ <disable_collisions link1="base_link" link2="leg_left_1_link" reason="Adjacent" />
+ <disable_collisions link1="base_link" link2="leg_left_2_link" reason="Default" />
+ <disable_collisions link1="base_link" link2="leg_right_1_link" reason="Adjacent" />
+ <disable_collisions link1="base_link" link2="leg_right_2_link" reason="Default" />
+ <disable_collisions link1="base_link" link2="rgbd_link" reason="Never" />
+ <disable_collisions link1="base_link" link2="torso_1_link" reason="Adjacent" />
+ <disable_collisions link1="base_link" link2="torso_2_link" reason="Default" />
+ <disable_collisions link1="gripper_left_base_link" link2="gripper_left_fingertip_1_link" reason="Never" />
+ <disable_collisions link1="gripper_left_base_link" link2="gripper_left_fingertip_2_link" reason="Never" />
+ <disable_collisions link1="gripper_left_base_link" link2="gripper_left_fingertip_3_link" reason="Never" />
+ <disable_collisions link1="gripper_left_base_link" link2="gripper_left_inner_double_link" reason="Adjacent" />
+ <disable_collisions link1="gripper_left_base_link" link2="gripper_left_inner_single_link" reason="Adjacent" />
+ <disable_collisions link1="gripper_left_base_link" link2="gripper_left_motor_double_link" reason="Adjacent" />
+ <disable_collisions link1="gripper_left_base_link" link2="gripper_left_motor_single_link" reason="Adjacent" />
+ <disable_collisions link1="gripper_left_base_link" link2="leg_left_3_link" reason="Default" />
+ <disable_collisions link1="gripper_left_base_link" link2="wrist_left_ft_link" reason="Never" />
+ <disable_collisions link1="gripper_left_base_link" link2="wrist_left_ft_tool_link" reason="Adjacent" />
+ <disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_fingertip_2_link" reason="Never" />
+ <disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_fingertip_3_link" reason="Never" />
+ <disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_inner_double_link" reason="Adjacent" />
+ <disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_inner_single_link" reason="Never" />
+ <disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_motor_double_link" reason="Default" />
+ <disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_motor_single_link" reason="Never" />
+ <disable_collisions link1="gripper_left_fingertip_1_link" link2="wrist_left_ft_link" reason="Never" />
+ <disable_collisions link1="gripper_left_fingertip_1_link" link2="wrist_left_ft_tool_link" reason="Never" />
+ <disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_fingertip_3_link" reason="Never" />
+ <disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_inner_double_link" reason="Adjacent" />
+ <disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_inner_single_link" reason="Never" />
+ <disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_motor_double_link" reason="Default" />
+ <disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_motor_single_link" reason="Never" />
+ <disable_collisions link1="gripper_left_fingertip_2_link" link2="wrist_left_ft_link" reason="Never" />
+ <disable_collisions link1="gripper_left_fingertip_2_link" link2="wrist_left_ft_tool_link" reason="Never" />
+ <disable_collisions link1="gripper_left_fingertip_3_link" link2="gripper_left_inner_single_link" reason="Adjacent" />
+ <disable_collisions link1="gripper_left_fingertip_3_link" link2="gripper_left_motor_single_link" reason="Default" />
+ <disable_collisions link1="gripper_left_fingertip_3_link" link2="wrist_left_ft_link" reason="Never" />
+ <disable_collisions link1="gripper_left_fingertip_3_link" link2="wrist_left_ft_tool_link" reason="Never" />
+ <disable_collisions link1="gripper_left_inner_double_link" link2="gripper_left_motor_double_link" reason="Default" />
+ <disable_collisions link1="gripper_left_inner_double_link" link2="wrist_left_ft_link" reason="Never" />
+ <disable_collisions link1="gripper_left_inner_double_link" link2="wrist_left_ft_tool_link" reason="Never" />
+ <disable_collisions link1="gripper_left_inner_single_link" link2="gripper_left_motor_single_link" reason="Default" />
+ <disable_collisions link1="gripper_left_inner_single_link" link2="leg_left_3_link" reason="Default" />
+ <disable_collisions link1="gripper_left_inner_single_link" link2="wrist_left_ft_link" reason="Never" />
+ <disable_collisions link1="gripper_left_inner_single_link" link2="wrist_left_ft_tool_link" reason="Never" />
+ <disable_collisions link1="gripper_left_motor_double_link" link2="gripper_left_motor_single_link" reason="Default" />
+ <disable_collisions link1="gripper_left_motor_double_link" link2="wrist_left_ft_link" reason="Never" />
+ <disable_collisions link1="gripper_left_motor_double_link" link2="wrist_left_ft_tool_link" reason="Never" />
+ <disable_collisions link1="gripper_left_motor_single_link" link2="leg_left_3_link" reason="Default" />
+ <disable_collisions link1="gripper_left_motor_single_link" link2="wrist_left_ft_link" reason="Never" />
+ <disable_collisions link1="gripper_left_motor_single_link" link2="wrist_left_ft_tool_link" reason="Never" />
+ <disable_collisions link1="gripper_right_base_link" link2="gripper_right_fingertip_1_link" reason="Never" />
+ <disable_collisions link1="gripper_right_base_link" link2="gripper_right_fingertip_2_link" reason="Never" />
+ <disable_collisions link1="gripper_right_base_link" link2="gripper_right_fingertip_3_link" reason="Never" />
+ <disable_collisions link1="gripper_right_base_link" link2="gripper_right_inner_double_link" reason="Adjacent" />
+ <disable_collisions link1="gripper_right_base_link" link2="gripper_right_inner_single_link" reason="Adjacent" />
+ <disable_collisions link1="gripper_right_base_link" link2="gripper_right_motor_double_link" reason="Adjacent" />
+ <disable_collisions link1="gripper_right_base_link" link2="gripper_right_motor_single_link" reason="Adjacent" />
+ <disable_collisions link1="gripper_right_base_link" link2="leg_right_3_link" reason="Default" />
+ <disable_collisions link1="gripper_right_base_link" link2="wrist_right_ft_link" reason="Never" />
+ <disable_collisions link1="gripper_right_base_link" link2="wrist_right_ft_tool_link" reason="Adjacent" />
+ <disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_fingertip_2_link" reason="Never" />
+ <disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_fingertip_3_link" reason="Never" />
+ <disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_inner_double_link" reason="Adjacent" />
+ <disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_inner_single_link" reason="Never" />
+ <disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_motor_double_link" reason="Default" />
+ <disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_motor_single_link" reason="Never" />
+ <disable_collisions link1="gripper_right_fingertip_1_link" link2="wrist_right_ft_link" reason="Never" />
+ <disable_collisions link1="gripper_right_fingertip_1_link" link2="wrist_right_ft_tool_link" reason="Never" />
+ <disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_fingertip_3_link" reason="Never" />
+ <disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_inner_double_link" reason="Adjacent" />
+ <disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_inner_single_link" reason="Never" />
+ <disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_motor_double_link" reason="Default" />
+ <disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_motor_single_link" reason="Never" />
+ <disable_collisions link1="gripper_right_fingertip_2_link" link2="wrist_right_ft_link" reason="Never" />
+ <disable_collisions link1="gripper_right_fingertip_2_link" link2="wrist_right_ft_tool_link" reason="Never" />
+ <disable_collisions link1="gripper_right_fingertip_3_link" link2="gripper_right_inner_single_link" reason="Adjacent" />
+ <disable_collisions link1="gripper_right_fingertip_3_link" link2="gripper_right_motor_single_link" reason="Default" />
+ <disable_collisions link1="gripper_right_fingertip_3_link" link2="wrist_right_ft_link" reason="Never" />
+ <disable_collisions link1="gripper_right_fingertip_3_link" link2="wrist_right_ft_tool_link" reason="Never" />
+ <disable_collisions link1="gripper_right_inner_double_link" link2="gripper_right_motor_double_link" reason="Default" />
+ <disable_collisions link1="gripper_right_inner_double_link" link2="wrist_right_ft_link" reason="Never" />
+ <disable_collisions link1="gripper_right_inner_double_link" link2="wrist_right_ft_tool_link" reason="Never" />
+ <disable_collisions link1="gripper_right_inner_single_link" link2="gripper_right_motor_single_link" reason="Default" />
+ <disable_collisions link1="gripper_right_inner_single_link" link2="leg_right_3_link" reason="Default" />
+ <disable_collisions link1="gripper_right_inner_single_link" link2="wrist_right_ft_link" reason="Never" />
+ <disable_collisions link1="gripper_right_inner_single_link" link2="wrist_right_ft_tool_link" reason="Never" />
+ <disable_collisions link1="gripper_right_motor_double_link" link2="gripper_right_motor_single_link" reason="Default" />
+ <disable_collisions link1="gripper_right_motor_double_link" link2="wrist_right_ft_link" reason="Never" />
+ <disable_collisions link1="gripper_right_motor_double_link" link2="wrist_right_ft_tool_link" reason="Never" />
+ <disable_collisions link1="gripper_right_motor_single_link" link2="leg_right_3_link" reason="Default" />
+ <disable_collisions link1="gripper_right_motor_single_link" link2="wrist_right_ft_link" reason="Never" />
+ <disable_collisions link1="gripper_right_motor_single_link" link2="wrist_right_ft_tool_link" reason="Never" />
+ <disable_collisions link1="head_1_link" link2="head_2_link" reason="Adjacent" />
+ <disable_collisions link1="head_1_link" link2="imu_link" reason="Never" />
+ <disable_collisions link1="head_1_link" link2="leg_left_1_link" reason="Never" />
+ <disable_collisions link1="head_1_link" link2="leg_left_2_link" reason="Never" />
+ <disable_collisions link1="head_1_link" link2="leg_left_3_link" reason="Never" />
+ <disable_collisions link1="head_1_link" link2="leg_left_4_link" reason="Never" />
+ <disable_collisions link1="head_1_link" link2="leg_left_5_link" reason="Never" />
+ <disable_collisions link1="head_1_link" link2="leg_left_6_link" reason="Never" />
+ <disable_collisions link1="head_1_link" link2="leg_right_1_link" reason="Never" />
+ <disable_collisions link1="head_1_link" link2="leg_right_2_link" reason="Never" />
+ <disable_collisions link1="head_1_link" link2="leg_right_3_link" reason="Never" />
+ <disable_collisions link1="head_1_link" link2="leg_right_4_link" reason="Never" />
+ <disable_collisions link1="head_1_link" link2="leg_right_5_link" reason="Never" />
+ <disable_collisions link1="head_1_link" link2="leg_right_6_link" reason="Never" />
+ <disable_collisions link1="head_1_link" link2="rgbd_link" reason="Never" />
+ <disable_collisions link1="head_1_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="head_1_link" link2="torso_2_link" reason="Adjacent" />
+ <disable_collisions link1="head_2_link" link2="imu_link" reason="Never" />
+ <disable_collisions link1="head_2_link" link2="leg_left_1_link" reason="Never" />
+ <disable_collisions link1="head_2_link" link2="leg_left_2_link" reason="Never" />
+ <disable_collisions link1="head_2_link" link2="leg_left_3_link" reason="Never" />
+ <disable_collisions link1="head_2_link" link2="leg_left_4_link" reason="Never" />
+ <disable_collisions link1="head_2_link" link2="leg_left_5_link" reason="Never" />
+ <disable_collisions link1="head_2_link" link2="leg_left_6_link" reason="Never" />
+ <disable_collisions link1="head_2_link" link2="leg_right_1_link" reason="Never" />
+ <disable_collisions link1="head_2_link" link2="leg_right_2_link" reason="Never" />
+ <disable_collisions link1="head_2_link" link2="leg_right_3_link" reason="Never" />
+ <disable_collisions link1="head_2_link" link2="leg_right_4_link" reason="Never" />
+ <disable_collisions link1="head_2_link" link2="leg_right_5_link" reason="Never" />
+ <disable_collisions link1="head_2_link" link2="leg_right_6_link" reason="Never" />
+ <disable_collisions link1="head_2_link" link2="rgbd_link" reason="Adjacent" />
+ <disable_collisions link1="head_2_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="head_2_link" link2="torso_2_link" reason="Never" />
+ <disable_collisions link1="imu_link" link2="leg_left_1_link" reason="Never" />
+ <disable_collisions link1="imu_link" link2="leg_left_2_link" reason="Never" />
+ <disable_collisions link1="imu_link" link2="leg_left_3_link" reason="Never" />
+ <disable_collisions link1="imu_link" link2="leg_left_4_link" reason="Never" />
+ <disable_collisions link1="imu_link" link2="leg_left_5_link" reason="Never" />
+ <disable_collisions link1="imu_link" link2="leg_left_6_link" reason="Never" />
+ <disable_collisions link1="imu_link" link2="leg_right_1_link" reason="Never" />
+ <disable_collisions link1="imu_link" link2="leg_right_2_link" reason="Never" />
+ <disable_collisions link1="imu_link" link2="leg_right_3_link" reason="Never" />
+ <disable_collisions link1="imu_link" link2="leg_right_4_link" reason="Never" />
+ <disable_collisions link1="imu_link" link2="leg_right_5_link" reason="Never" />
+ <disable_collisions link1="imu_link" link2="leg_right_6_link" reason="Never" />
+ <disable_collisions link1="imu_link" link2="rgbd_link" reason="Never" />
+ <disable_collisions link1="imu_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="imu_link" link2="torso_2_link" reason="Adjacent" />
+ <disable_collisions link1="leg_left_1_link" link2="leg_left_2_link" reason="Adjacent" />
+ <disable_collisions link1="leg_left_1_link" link2="leg_left_3_link" reason="Default" />
+ <disable_collisions link1="leg_left_1_link" link2="leg_left_4_link" reason="Never" />
+ <disable_collisions link1="leg_left_1_link" link2="leg_left_5_link" reason="Never" />
+ <disable_collisions link1="leg_left_1_link" link2="leg_right_1_link" reason="Never" />
+ <disable_collisions link1="leg_left_1_link" link2="leg_right_2_link" reason="Never" />
+ <disable_collisions link1="leg_left_1_link" link2="rgbd_link" reason="Never" />
+ <disable_collisions link1="leg_left_1_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="leg_left_1_link" link2="torso_2_link" reason="Never" />
+ <disable_collisions link1="leg_left_2_link" link2="leg_left_3_link" reason="Adjacent" />
+ <disable_collisions link1="leg_left_2_link" link2="leg_left_4_link" reason="Never" />
+ <disable_collisions link1="leg_left_2_link" link2="leg_left_5_link" reason="Never" />
+ <disable_collisions link1="leg_left_2_link" link2="leg_right_1_link" reason="Never" />
+ <disable_collisions link1="leg_left_2_link" link2="leg_right_2_link" reason="Never" />
+ <disable_collisions link1="leg_left_2_link" link2="rgbd_link" reason="Never" />
+ <disable_collisions link1="leg_left_2_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="leg_left_2_link" link2="torso_2_link" reason="Never" />
+ <disable_collisions link1="leg_left_3_link" link2="leg_left_4_link" reason="Adjacent" />
+ <disable_collisions link1="leg_left_3_link" link2="leg_left_5_link" reason="Never" />
+ <disable_collisions link1="leg_left_3_link" link2="rgbd_link" reason="Never" />
+ <disable_collisions link1="leg_left_3_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="leg_left_3_link" link2="torso_2_link" reason="Never" />
+ <disable_collisions link1="leg_left_3_link" link2="wrist_left_ft_link" reason="Default" />
+ <disable_collisions link1="leg_left_3_link" link2="wrist_left_ft_tool_link" reason="Default" />
+ <disable_collisions link1="leg_left_4_link" link2="leg_left_5_link" reason="Adjacent" />
+ <disable_collisions link1="leg_left_4_link" link2="leg_left_6_link" reason="Never" />
+ <disable_collisions link1="leg_left_4_link" link2="rgbd_link" reason="Never" />
+ <disable_collisions link1="leg_left_4_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="leg_left_4_link" link2="torso_2_link" reason="Never" />
+ <disable_collisions link1="leg_left_5_link" link2="leg_left_6_link" reason="Adjacent" />
+ <disable_collisions link1="leg_left_5_link" link2="rgbd_link" reason="Never" />
+ <disable_collisions link1="leg_left_5_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="leg_left_5_link" link2="torso_2_link" reason="Never" />
+ <disable_collisions link1="leg_left_6_link" link2="rgbd_link" reason="Never" />
+ <disable_collisions link1="leg_left_6_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="leg_left_6_link" link2="torso_2_link" reason="Never" />
+ <disable_collisions link1="leg_right_1_link" link2="leg_right_2_link" reason="Adjacent" />
+ <disable_collisions link1="leg_right_1_link" link2="leg_right_3_link" reason="Default" />
+ <disable_collisions link1="leg_right_1_link" link2="leg_right_4_link" reason="Never" />
+ <disable_collisions link1="leg_right_1_link" link2="leg_right_5_link" reason="Never" />
+ <disable_collisions link1="leg_right_1_link" link2="rgbd_link" reason="Never" />
+ <disable_collisions link1="leg_right_1_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="leg_right_1_link" link2="torso_2_link" reason="Never" />
+ <disable_collisions link1="leg_right_2_link" link2="leg_right_3_link" reason="Adjacent" />
+ <disable_collisions link1="leg_right_2_link" link2="leg_right_4_link" reason="Never" />
+ <disable_collisions link1="leg_right_2_link" link2="leg_right_5_link" reason="Never" />
+ <disable_collisions link1="leg_right_2_link" link2="rgbd_link" reason="Never" />
+ <disable_collisions link1="leg_right_2_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="leg_right_2_link" link2="torso_2_link" reason="Never" />
+ <disable_collisions link1="leg_right_3_link" link2="leg_right_4_link" reason="Adjacent" />
+ <disable_collisions link1="leg_right_3_link" link2="leg_right_5_link" reason="Never" />
+ <disable_collisions link1="leg_right_3_link" link2="rgbd_link" reason="Never" />
+ <disable_collisions link1="leg_right_3_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="leg_right_3_link" link2="torso_2_link" reason="Never" />
+ <disable_collisions link1="leg_right_3_link" link2="wrist_right_ft_link" reason="Default" />
+ <disable_collisions link1="leg_right_3_link" link2="wrist_right_ft_tool_link" reason="Default" />
+ <disable_collisions link1="leg_right_4_link" link2="leg_right_5_link" reason="Adjacent" />
+ <disable_collisions link1="leg_right_4_link" link2="leg_right_6_link" reason="Never" />
+ <disable_collisions link1="leg_right_4_link" link2="rgbd_link" reason="Never" />
+ <disable_collisions link1="leg_right_4_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="leg_right_4_link" link2="torso_2_link" reason="Never" />
+ <disable_collisions link1="leg_right_5_link" link2="leg_right_6_link" reason="Adjacent" />
+ <disable_collisions link1="leg_right_5_link" link2="rgbd_link" reason="Never" />
+ <disable_collisions link1="leg_right_5_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="leg_right_5_link" link2="torso_2_link" reason="Never" />
+ <disable_collisions link1="leg_right_6_link" link2="rgbd_link" reason="Never" />
+ <disable_collisions link1="leg_right_6_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="leg_right_6_link" link2="torso_2_link" reason="Never" />
+ <disable_collisions link1="rgbd_link" link2="torso_1_link" reason="Never" />
+ <disable_collisions link1="rgbd_link" link2="torso_2_link" reason="Never" />
+ <disable_collisions link1="torso_1_link" link2="torso_2_link" reason="Adjacent" />
+ <disable_collisions link1="wrist_left_ft_link" link2="wrist_left_ft_tool_link" reason="Adjacent" />
+ <disable_collisions link1="wrist_right_ft_link" link2="wrist_right_ft_tool_link" reason="Adjacent" />
+</robot>
--
GitLab