| <?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> |
|
|
