| <?xml version="1.0" ?> | |
| <robot name="dh_ag95"> | |
| <disable_collisions link1="r7" link2="r_gripper_finger1_inner_knuckle_link" reason="Adjacent"/> | |
| <disable_collisions link1="r6" link2="r7" reason="Adjacent"/> | |
| <disable_collisions link1="r7" link2="r_gripper_finger1_knuckle_link" reason="Adjacent"/> | |
| <disable_collisions link1="l6" link2="l7" reason="Adjacent"/> | |
| <disable_collisions link1="l7" link2="l_gripper_finger1_knuckle_link" reason="Adjacent"/> | |
| <disable_collisions link1="l7" link2="l_gripper_base_link" reason="Adjacent"/> | |
| <disable_collisions link1="r_gripper_finger2_knuckle_link" link2="r_gripper_finger2_finger_link" reason="Adjacent"/> | |
| <disable_collisions link1="r7" link2="r_gripper_finger2_knuckle_link" reason="Adjacent"/> | |
| <disable_collisions link1="l_gripper_base_link" link2="l_gripper_finger2_knuckle_link" reason="Adjacent"/> | |
| <disable_collisions link1="r3" link2="r4" reason="Adjacent"/> | |
| <disable_collisions link1="r5" link2="r6" reason="Adjacent"/> | |
| <disable_collisions link1="r1" link2="r2" reason="Adjacent"/> | |
| <disable_collisions link1="l4" link2="l5" reason="Adjacent"/> | |
| <disable_collisions link1="l_gripper_base_link" link2="l_gripper_finger1_knuckle_link" reason="Adjacent"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="l_gripper_finger2_finger_tip_link" reason="Adjacent"/> | |
| <disable_collisions link1="r_gripper_base_link" link2="r_gripper_finger1_inner_knuckle_link" reason="Adjacent"/> | |
| <disable_collisions link1="r_gripper_base_link" link2="r_gripper_finger1_knuckle_link" reason="Adjacent"/> | |
| <disable_collisions link1="r7" link2="r_gripper_base_link" reason="Adjacent"/> | |
| <disable_collisions link1="l5" link2="l6" reason="Adjacent"/> | |
| <disable_collisions link1="r7" link2="r_gripper_finger2_inner_knuckle_link" reason="Adjacent"/> | |
| <disable_collisions link1="r_gripper_base_link" link2="r_gripper_finger2_knuckle_link" reason="Adjacent"/> | |
| <disable_collisions link1="l7" link2="l_gripper_finger1_inner_knuckle_link" reason="Adjacent"/> | |
| <disable_collisions link1="l3" link2="l4" reason="Adjacent"/> | |
| <disable_collisions link1="l7" link2="l_gripper_finger2_inner_knuckle_link" reason="Adjacent"/> | |
| <disable_collisions link1="l2" link2="l3" reason="Adjacent"/> | |
| <disable_collisions link1="r2" link2="r3" reason="Adjacent"/> | |
| <disable_collisions link1="r_gripper_finger1_inner_knuckle_link" link2="r_gripper_finger1_finger_tip_link" reason="Adjacent"/> | |
| <disable_collisions link1="r_gripper_finger2_inner_knuckle_link" link2="r_gripper_finger2_finger_tip_link" reason="Adjacent"/> | |
| <disable_collisions link1="base_link" link2="l1" reason="Adjacent"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="l_gripper_finger1_finger_tip_link" reason="Adjacent"/> | |
| <disable_collisions link1="r4" link2="r5" reason="Adjacent"/> | |
| <disable_collisions link1="l_gripper_finger2_knuckle_link" link2="l_gripper_finger2_finger_link" reason="Adjacent"/> | |
| <disable_collisions link1="base_link" link2="r1" reason="Adjacent"/> | |
| <disable_collisions link1="l_gripper_base_link" link2="l_gripper_finger2_inner_knuckle_link" reason="Adjacent"/> | |
| <disable_collisions link1="l_gripper_base_link" link2="l_gripper_finger1_inner_knuckle_link" reason="Adjacent"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="l_gripper_finger1_finger_link" reason="Adjacent"/> | |
| <disable_collisions link1="r_gripper_base_link" link2="r_gripper_finger2_inner_knuckle_link" reason="Adjacent"/> | |
| <disable_collisions link1="r_gripper_finger1_knuckle_link" link2="r_gripper_finger1_finger_link" reason="Adjacent"/> | |
| <disable_collisions link1="l1" link2="l2" reason="Adjacent"/> | |
| <disable_collisions link1="l7" link2="l_gripper_finger2_knuckle_link" reason="Adjacent"/> | |
| <disable_collisions link1="base_link" link2="l2" reason="Never"/> | |
| <disable_collisions link1="base_link" link2="l3" reason="Never"/> | |
| <disable_collisions link1="base_link" link2="l4" reason="Never"/> | |
| <disable_collisions link1="base_link" link2="l_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="base_link" link2="l_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="base_link" link2="l_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="base_link" link2="l_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="base_link" link2="l_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="base_link" link2="l_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="base_link" link2="r2" reason="Never"/> | |
| <disable_collisions link1="base_link" link2="r3" reason="Never"/> | |
| <disable_collisions link1="base_link" link2="r4" reason="Never"/> | |
| <disable_collisions link1="base_link" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="base_link" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="base_link" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="base_link" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="base_link" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="base_link" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l1" link2="l3" reason="Never"/> | |
| <disable_collisions link1="l1" link2="l4" reason="Never"/> | |
| <disable_collisions link1="l1" link2="l5" reason="Never"/> | |
| <disable_collisions link1="l1" link2="l_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l1" link2="l_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l1" link2="l_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l1" link2="l_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l1" link2="l_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l1" link2="l_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l1" link2="r1" reason="Never"/> | |
| <disable_collisions link1="l1" link2="r2" reason="Never"/> | |
| <disable_collisions link1="l1" link2="r3" reason="Never"/> | |
| <disable_collisions link1="l1" link2="r4" reason="Never"/> | |
| <disable_collisions link1="l1" link2="r5" reason="Never"/> | |
| <disable_collisions link1="l1" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l1" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l1" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l1" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l1" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l1" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l2" link2="l4" reason="Never"/> | |
| <disable_collisions link1="l2" link2="l5" reason="Never"/> | |
| <disable_collisions link1="l2" link2="l_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l2" link2="l_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l2" link2="l_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l2" link2="l_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l2" link2="l_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l2" link2="l_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l2" link2="r1" reason="Never"/> | |
| <disable_collisions link1="l2" link2="r2" reason="Never"/> | |
| <disable_collisions link1="l2" link2="r3" reason="Never"/> | |
| <disable_collisions link1="l2" link2="r4" reason="Never"/> | |
| <disable_collisions link1="l2" link2="r5" reason="Never"/> | |
| <disable_collisions link1="l2" link2="r6" reason="Never"/> | |
| <disable_collisions link1="l2" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l2" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l2" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l2" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l2" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l2" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l3" link2="l5" reason="Never"/> | |
| <disable_collisions link1="l3" link2="l_gripper_base_link" reason="Never"/> | |
| <disable_collisions link1="l3" link2="l_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l3" link2="l_gripper_finger1_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l3" link2="l_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l3" link2="l_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l3" link2="l_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l3" link2="l_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l3" link2="l_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l3" link2="l_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l3" link2="r1" reason="Never"/> | |
| <disable_collisions link1="l3" link2="r2" reason="Never"/> | |
| <disable_collisions link1="l3" link2="r3" reason="Never"/> | |
| <disable_collisions link1="l3" link2="r4" reason="Never"/> | |
| <disable_collisions link1="l3" link2="r5" reason="Never"/> | |
| <disable_collisions link1="l3" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l3" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l3" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l3" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l3" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l3" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l4" link2="l6" reason="Never"/> | |
| <disable_collisions link1="l4" link2="l7" reason="Never"/> | |
| <disable_collisions link1="l4" link2="l_gripper_base_link" reason="Never"/> | |
| <disable_collisions link1="l4" link2="l_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l4" link2="l_gripper_finger1_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l4" link2="l_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l4" link2="l_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l4" link2="l_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l4" link2="l_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l4" link2="l_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l4" link2="l_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l4" link2="r1" reason="Never"/> | |
| <disable_collisions link1="l4" link2="r2" reason="Never"/> | |
| <disable_collisions link1="l4" link2="r3" reason="Never"/> | |
| <disable_collisions link1="l4" link2="r4" reason="Never"/> | |
| <disable_collisions link1="l4" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l4" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l4" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l4" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l4" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l4" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l5" link2="l7" reason="Never"/> | |
| <disable_collisions link1="l5" link2="l_gripper_base_link" reason="Never"/> | |
| <disable_collisions link1="l5" link2="l_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l5" link2="l_gripper_finger1_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l5" link2="l_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l5" link2="l_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l5" link2="l_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l5" link2="l_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l5" link2="l_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l5" link2="l_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l5" link2="r1" reason="Never"/> | |
| <disable_collisions link1="l5" link2="r2" reason="Never"/> | |
| <disable_collisions link1="l5" link2="r3" reason="Never"/> | |
| <disable_collisions link1="l5" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l5" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l5" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l5" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l5" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l5" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l6" link2="l_gripper_base_link" reason="Never"/> | |
| <disable_collisions link1="l6" link2="l_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l6" link2="l_gripper_finger1_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l6" link2="l_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l6" link2="l_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l6" link2="l_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l6" link2="l_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l6" link2="l_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l6" link2="l_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l6" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l6" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l6" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l6" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l6" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l6" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l7" link2="l_gripper_finger1_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l7" link2="l_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l7" link2="l_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l7" link2="l_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l7" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l7" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l7" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l7" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l7" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l7" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_base_link" link2="l_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_base_link" link2="l_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_base_link" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_base_link" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_base_link" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_base_link" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_base_link" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_base_link" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="l_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="l_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="l_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="l_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="l_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="l_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="r1" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="r2" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="r3" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="r4" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="r5" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="r6" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="r7" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="r_gripper_base_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="r_gripper_finger1_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="r_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_inner_knuckle_link" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_tip_link" link2="l_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_tip_link" link2="l_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_tip_link" link2="l_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_tip_link" link2="l_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_tip_link" link2="l_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_tip_link" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_tip_link" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_tip_link" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_tip_link" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_tip_link" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_tip_link" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="l_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="l_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="l_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="l_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="r1" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="r2" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="r3" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="r4" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="r5" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="r6" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="r7" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="r_gripper_base_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="r_gripper_finger1_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="r_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_knuckle_link" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="l_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="l_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="l_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="l_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="r1" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="r2" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="r3" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="r4" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="r5" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="r6" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="r7" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="r_gripper_base_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="r_gripper_finger1_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="r_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger1_finger_link" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="l_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="l_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="r1" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="r2" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="r3" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="r4" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="r5" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="r6" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="r7" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="r_gripper_base_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="r_gripper_finger1_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="r_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_inner_knuckle_link" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_tip_link" link2="l_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_tip_link" link2="l_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_tip_link" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_tip_link" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_tip_link" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_tip_link" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_tip_link" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_tip_link" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_knuckle_link" link2="r1" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_knuckle_link" link2="r2" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_knuckle_link" link2="r3" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_knuckle_link" link2="r4" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_knuckle_link" link2="r5" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_knuckle_link" link2="r6" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_knuckle_link" link2="r7" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_knuckle_link" link2="r_gripper_base_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_knuckle_link" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_knuckle_link" link2="r_gripper_finger1_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_knuckle_link" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_knuckle_link" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_knuckle_link" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_knuckle_link" link2="r_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_knuckle_link" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_knuckle_link" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_link" link2="r1" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_link" link2="r2" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_link" link2="r3" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_link" link2="r4" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_link" link2="r5" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_link" link2="r6" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_link" link2="r7" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_link" link2="r_gripper_base_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_link" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_link" link2="r_gripper_finger1_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_link" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_link" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_link" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_link" link2="r_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_link" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="l_gripper_finger2_finger_link" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="r1" link2="r3" reason="Never"/> | |
| <disable_collisions link1="r1" link2="r4" reason="Never"/> | |
| <disable_collisions link1="r1" link2="r5" reason="Never"/> | |
| <disable_collisions link1="r1" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r1" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r1" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="r1" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r1" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r1" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="r2" link2="r4" reason="Never"/> | |
| <disable_collisions link1="r2" link2="r5" reason="Never"/> | |
| <disable_collisions link1="r2" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r2" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r2" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="r2" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r2" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r2" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="r3" link2="r5" reason="Never"/> | |
| <disable_collisions link1="r3" link2="r_gripper_base_link" reason="Never"/> | |
| <disable_collisions link1="r3" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r3" link2="r_gripper_finger1_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="r3" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r3" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="r3" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r3" link2="r_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="r3" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r3" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="r4" link2="r6" reason="Never"/> | |
| <disable_collisions link1="r4" link2="r7" reason="Never"/> | |
| <disable_collisions link1="r4" link2="r_gripper_base_link" reason="Never"/> | |
| <disable_collisions link1="r4" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r4" link2="r_gripper_finger1_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="r4" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r4" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="r4" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r4" link2="r_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="r4" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r4" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="r5" link2="r7" reason="Never"/> | |
| <disable_collisions link1="r5" link2="r_gripper_base_link" reason="Never"/> | |
| <disable_collisions link1="r5" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r5" link2="r_gripper_finger1_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="r5" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r5" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="r5" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r5" link2="r_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="r5" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r5" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="r6" link2="r_gripper_base_link" reason="Never"/> | |
| <disable_collisions link1="r6" link2="r_gripper_finger1_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r6" link2="r_gripper_finger1_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="r6" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r6" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="r6" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r6" link2="r_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="r6" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r6" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="r7" link2="r_gripper_finger1_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="r7" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="r7" link2="r_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="r7" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_base_link" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_base_link" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_inner_knuckle_link" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_inner_knuckle_link" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_inner_knuckle_link" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_inner_knuckle_link" link2="r_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_inner_knuckle_link" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_inner_knuckle_link" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_finger_tip_link" link2="r_gripper_finger1_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_finger_tip_link" link2="r_gripper_finger1_finger_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_finger_tip_link" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_finger_tip_link" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_finger_tip_link" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_knuckle_link" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_knuckle_link" link2="r_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_knuckle_link" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_knuckle_link" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_finger_link" link2="r_gripper_finger2_inner_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_finger_link" link2="r_gripper_finger2_finger_tip_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_finger_link" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger1_finger_link" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger2_inner_knuckle_link" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger2_inner_knuckle_link" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger2_finger_tip_link" link2="r_gripper_finger2_knuckle_link" reason="Never"/> | |
| <disable_collisions link1="r_gripper_finger2_finger_tip_link" link2="r_gripper_finger2_finger_link" reason="Never"/> | |
| </robot> | |