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xarm6_robotiq.srdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from src/xarm_ros/xarm_description/srdf/xarm.srdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_robotiq">
<group name="xarm6">
<joint name="world_joint"/>
<joint name="joint1"/>
<joint name="joint2"/>
<joint name="joint3"/>
<joint name="joint4"/>
<joint name="joint5"/>
<joint name="joint6"/>
</group>
<group name="tool_end">
<joint name="joint_eef"/>
</group>
<end_effector group="tool_end" name="end_effector" parent_link="link6"/>
<!-- 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 group="xarm6" name="home">
<joint name="joint1" value="0"/>
<joint name="joint2" value="0"/>
<joint name="joint3" value="0"/>
<joint name="joint4" value="0"/>
<joint name="joint5" value="0"/>
<joint name="joint6" value="0"/>
</group_state>
<group_state group="xarm6" name="hold-up">
<joint name="joint1" value="0"/>
<joint name="joint2" value="0"/>
<joint name="joint3" value="0"/>
<joint name="joint4" value="0"/>
<joint name="joint5" value="-1.5708"/>
<joint name="joint6" value="0"/>
</group_state>
<disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
<disable_collisions link1="link1" link2="link3" reason="Never"/>
<disable_collisions link1="link1" link2="link_base" reason="Adjacent"/>
<disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
<disable_collisions link1="link2" link2="link4" reason="Never"/>
<disable_collisions link1="link2" link2="link_base" reason="Never"/>
<disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
<disable_collisions link1="link3" link2="link5" reason="Never"/>
<disable_collisions link1="link3" link2="link6" reason="Never"/>
<disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
<disable_collisions link1="link4" link2="link6" reason="Never"/>
<disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
<disable_collisions link1="link3" link2="link_eef" reason="Never"/>
<disable_collisions link1="link5" link2="link_eef" reason="Never"/>
<disable_collisions link1="link6" link2="link_eef" reason="Adjacent"/>
<!-- Gripper -->
<disable_collisions link1="link6" link2="robotiq_arg2f_base_link" reason="Adjacent" />
<disable_collisions link1="link6" link2="left_outer_knuckle" reason="Never" />
<disable_collisions link1="link6" link2="left_inner_knuckle" reason="Never" />
<disable_collisions link1="link6" link2="left_outer_finger" reason="Never" />
<disable_collisions link1="link6" link2="left_inner_finger" reason="Never" />
<disable_collisions link1="link6" link2="right_outer_knuckle" reason="Never" />
<disable_collisions link1="link6" link2="right_inner_knuckle" reason="Never" />
<disable_collisions link1="link6" link2="right_outer_finger" reason="Never" />
<disable_collisions link1="link6" link2="right_inner_finger" reason="Never" />
<disable_collisions link1="link6" link2="left_inner_finger_pad" reason="Never" />
<disable_collisions link1="link6" link2="right_inner_finger_pad" reason="Never" />
<disable_collisions link1="robotiq_arg2f_base_link" link2="left_outer_knuckle" reason="Adjacent" />
<disable_collisions link1="robotiq_arg2f_base_link" link2="left_inner_knuckle" reason="Adjacent" />
<disable_collisions link1="robotiq_arg2f_base_link" link2="left_outer_finger" reason="Adjacent" />
<disable_collisions link1="robotiq_arg2f_base_link" link2="left_inner_finger" reason="Adjacent" />
<disable_collisions link1="robotiq_arg2f_base_link" link2="right_outer_knuckle" reason="Adjacent" />
<disable_collisions link1="robotiq_arg2f_base_link" link2="right_inner_knuckle" reason="Adjacent" />
<disable_collisions link1="robotiq_arg2f_base_link" link2="right_outer_finger" reason="Adjacent" />
<disable_collisions link1="robotiq_arg2f_base_link" link2="right_inner_finger" reason="Adjacent" />
<disable_collisions link1="robotiq_arg2f_base_link" link2="left_inner_finger_pad" reason="Adjacent" />
<disable_collisions link1="robotiq_arg2f_base_link" link2="right_inner_finger_pad" reason="Adjacent" />
<disable_collisions link1="left_outer_knuckle" link2="left_inner_knuckle" reason="Adjacent" />
<disable_collisions link1="left_outer_knuckle" link2="left_outer_finger" reason="Adjacent" />
<disable_collisions link1="left_outer_knuckle" link2="left_inner_finger" reason="Adjacent" />
<disable_collisions link1="left_outer_knuckle" link2="right_outer_knuckle" reason="Adjacent" />
<disable_collisions link1="left_outer_knuckle" link2="right_inner_knuckle" reason="Adjacent" />
<disable_collisions link1="left_outer_knuckle" link2="right_outer_finger" reason="Adjacent" />
<disable_collisions link1="left_outer_knuckle" link2="right_inner_finger" reason="Adjacent" />
<disable_collisions link1="left_outer_knuckle" link2="left_inner_finger_pad" reason="Adjacent" />
<disable_collisions link1="left_outer_knuckle" link2="right_inner_finger_pad" reason="Adjacent" />
<disable_collisions link1="left_inner_knuckle" link2="left_outer_finger" reason="Adjacent" />
<disable_collisions link1="left_inner_knuckle" link2="left_inner_finger" reason="Adjacent" />
<disable_collisions link1="left_inner_knuckle" link2="right_outer_knuckle" reason="Adjacent" />
<disable_collisions link1="left_inner_knuckle" link2="right_inner_knuckle" reason="Adjacent" />
<disable_collisions link1="left_inner_knuckle" link2="right_outer_finger" reason="Adjacent" />
<disable_collisions link1="left_inner_knuckle" link2="right_inner_finger" reason="Adjacent" />
<disable_collisions link1="left_inner_knuckle" link2="left_inner_finger_pad" reason="Adjacent" />
<disable_collisions link1="left_inner_knuckle" link2="right_inner_finger_pad" reason="Adjacent" />
<disable_collisions link1="left_outer_finger" link2="left_inner_finger" reason="Adjacent" />
<disable_collisions link1="left_outer_finger" link2="right_outer_knuckle" reason="Adjacent" />
<disable_collisions link1="left_outer_finger" link2="right_inner_knuckle" reason="Adjacent" />
<disable_collisions link1="left_outer_finger" link2="right_outer_finger" reason="Adjacent" />
<disable_collisions link1="left_outer_finger" link2="right_inner_finger" reason="Adjacent" />
<disable_collisions link1="left_outer_finger" link2="left_inner_finger_pad" reason="Adjacent" />
<disable_collisions link1="left_outer_finger" link2="right_inner_finger_pad" reason="Adjacent" />
<disable_collisions link1="left_inner_finger" link2="right_outer_knuckle" reason="Adjacent" />
<disable_collisions link1="left_inner_finger" link2="right_inner_knuckle" reason="Adjacent" />
<disable_collisions link1="left_inner_finger" link2="right_outer_finger" reason="Adjacent" />
<disable_collisions link1="left_inner_finger" link2="right_inner_finger" reason="Adjacent" />
<disable_collisions link1="left_inner_finger" link2="left_inner_finger_pad" reason="Adjacent" />
<disable_collisions link1="left_inner_finger" link2="right_inner_finger_pad" reason="Adjacent" />
<disable_collisions link1="right_outer_knuckle" link2="right_inner_knuckle" reason="Adjacent" />
<disable_collisions link1="right_outer_knuckle" link2="right_outer_finger" reason="Adjacent" />
<disable_collisions link1="right_outer_knuckle" link2="right_inner_finger" reason="Adjacent" />
<disable_collisions link1="right_outer_knuckle" link2="left_inner_finger_pad" reason="Adjacent" />
<disable_collisions link1="right_outer_knuckle" link2="right_inner_finger_pad" reason="Adjacent" />
<disable_collisions link1="right_inner_knuckle" link2="right_outer_finger" reason="Adjacent" />
<disable_collisions link1="right_inner_knuckle" link2="right_inner_finger" reason="Adjacent" />
<disable_collisions link1="right_inner_knuckle" link2="left_inner_finger_pad" reason="Adjacent" />
<disable_collisions link1="right_inner_knuckle" link2="right_inner_finger_pad" reason="Adjacent" />
<disable_collisions link1="right_outer_finger" link2="right_inner_finger" reason="Adjacent" />
<disable_collisions link1="right_outer_finger" link2="left_inner_finger_pad" reason="Adjacent" />
<disable_collisions link1="right_outer_finger" link2="right_inner_finger_pad" reason="Adjacent" />
<disable_collisions link1="right_inner_finger" link2="left_inner_finger_pad" reason="Adjacent" />
<disable_collisions link1="right_inner_finger" link2="right_inner_finger_pad" reason="Adjacent" />
</robot>