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fa110ba | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 | <?xml version="1.0" ?>
<robot name="piper_description">
<group name="arm">
<joint name="joint1"/>
<joint name="joint2"/>
<joint name="joint3"/>
<joint name="joint4"/>
<joint name="joint5"/>
<joint name="joint6"/>
<chain base_link="base_link" tip_link="link6"/>
</group>
<disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
<disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
<disable_collisions link1="link6" link2="link7" reason="Adjacent"/>
<disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
<disable_collisions link1="link6" link2="link8" reason="Adjacent"/>
<disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
<disable_collisions link1="base_link" link2="link1" reason="Adjacent"/>
<disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
<disable_collisions link1="link7" link2="link8" reason="Default"/>
<disable_collisions link1="base_link" link2="link2" reason="Never"/>
<disable_collisions link1="base_link" link2="link3" reason="Never"/>
<disable_collisions link1="link1" link2="link3" reason="Never"/>
<disable_collisions link1="link2" link2="link4" reason="Never"/>
<disable_collisions link1="link3" link2="link5" reason="Never"/>
<disable_collisions link1="link3" link2="link6" reason="Never"/>
<disable_collisions link1="link3" link2="link7" reason="Never"/>
<disable_collisions link1="link3" link2="link8" reason="Never"/>
<disable_collisions link1="link4" link2="link6" reason="Never"/>
<disable_collisions link1="link4" link2="link7" reason="Never"/>
<disable_collisions link1="link4" link2="link8" reason="Never"/>
<disable_collisions link1="link5" link2="link7" reason="Never"/>
<disable_collisions link1="link5" link2="link8" reason="Never"/>
</robot>
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