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xarm6_allegro_left.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_allegro_left">
<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 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"/>
<!-- Allegro Hand -->
<!-- 1. Disable collisions between links of same finger -->
<!-- Index finger -->
<disable_collision link1="link_8.0" link2="link_9.0" reason="Adjacent"/>
<disable_collision link1="link_8.0" link2="link_10.0" reason="Never"/>
<disable_collision link1="link_8.0" link2="link_11.0" reason="Never"/>
<disable_collision link1="link_8.0" link2="link_11.0_tip" reason="Never"/>
<disable_collision link1="link_9.0" link2="link_10.0" reason="Adjacent"/>
<disable_collision link1="link_9.0" link2="link_11.0" reason="Never"/>
<disable_collision link1="link_9.0" link2="link_11.0_tip" reason="Never"/>
<disable_collision link1="link_10.0" link2="link_11.0" reason="Adjacent"/>
<disable_collision link1="link_10.0" link2="link_11.0_tip" reason="Never"/>
<!-- Middle finger -->
<disable_collision link1="link_4.0" link2="link_5.0" reason="Adjacent"/>
<disable_collision link1="link_4.0" link2="link_6.0" reason="Never"/>
<disable_collision link1="link_4.0" link2="link_7.0" reason="Never"/>
<disable_collision link1="link_4.0" link2="link_7.0_tip" reason="Never"/>
<disable_collision link1="link_5.0" link2="link_6.0" reason="Adjacent"/>
<disable_collision link1="link_5.0" link2="link_7.0" reason="Never"/>
<disable_collision link1="link_5.0" link2="link_7.0_tip" reason="Never"/>
<disable_collision link1="link_6.0" link2="link_7.0" reason="Adjacent"/>
<disable_collision link1="link_6.0" link2="link_7.0_tip" reason="Never"/>
<!-- Ring finger -->
<disable_collision link1="link_0.0" link2="link_1.0" reason="Adjacent"/>
<disable_collision link1="link_0.0" link2="link_2.0" reason="Never"/>
<disable_collision link1="link_0.0" link2="link_3.0" reason="Never"/>
<disable_collision link1="link_0.0" link2="link_3.0_tip" reason="Never"/>
<disable_collision link1="link_1.0" link2="link_2.0" reason="Adjacent"/>
<disable_collision link1="link_1.0" link2="link_3.0" reason="Never"/>
<disable_collision link1="link_1.0" link2="link_3.0_tip" reason="Never"/>
<disable_collision link1="link_2.0" link2="link_3.0" reason="Adjacent"/>
<disable_collision link1="link_2.0" link2="link_3.0_tip" reason="Never"/>
<!-- Thumb -->
<disable_collision link1="link_12.0" link2="link_13.0" reason="Adjacent"/>
<disable_collision link1="link_12.0" link2="link_14.0" reason="Never"/>
<disable_collision link1="link_12.0" link2="link_15.0" reason="Never"/>
<disable_collision link1="link_12.0" link2="link_15.0_tip" reason="Never"/>
<disable_collision link1="link_13.0" link2="link_14.0" reason="Adjacent"/>
<disable_collision link1="link_13.0" link2="link_15.0" reason="Never"/>
<disable_collision link1="link_13.0" link2="link_15.0_tip" reason="Never"/>
<disable_collision link1="link_14.0" link2="link_15.0" reason="Adjacent"/>
<disable_collision link1="link_14.0" link2="link_15.0_tip" reason="Never"/>
<!-- 2. Disable collisions between different fingers/thumb -->
<!-- Thumb and index finger -->
<disable_collision link1="link_12.0" link2="link_8.0" reason="Never"/>
<disable_collision link1="link_12.0" link2="link_9.0" reason="Never"/>
<disable_collision link1="link_12.0" link2="link_10.0" reason="Never"/>
<disable_collision link1="link_12.0" link2="link_11.0" reason="Never"/>
<disable_collision link1="link_12.0" link2="link_11.0_tip" reason="Never"/>
<disable_collision link1="link_13.0" link2="link_8.0" reason="Never"/>
<disable_collision link1="link_13.0" link2="link_9.0" reason="Never"/>
<disable_collision link1="link_13.0" link2="link_10.0" reason="Never"/>
<disable_collision link1="link_13.0" link2="link_11.0" reason="Never"/>
<disable_collision link1="link_13.0" link2="link_11.0_tip" reason="Never"/>
<disable_collision link1="link_14.0" link2="link_8.0" reason="Never"/>
<disable_collision link1="link_14.0" link2="link_9.0" reason="Never"/>
<disable_collision link1="link_14.0" link2="link_10.0" reason="Never"/>
<disable_collision link1="link_14.0" link2="link_11.0" reason="Never"/>
<disable_collision link1="link_14.0" link2="link_11.0_tip" reason="Never"/>
<disable_collision link1="link_15.0" link2="link_8.0" reason="Never"/>
<disable_collision link1="link_15.0" link2="link_9.0" reason="Never"/>
<disable_collision link1="link_15.0" link2="link_10.0" reason="Never"/>
<disable_collision link1="link_15.0" link2="link_11.0" reason="Never"/>
<disable_collision link1="link_15.0" link2="link_11.0_tip" reason="Never"/>
<disable_collision link1="link_15.0_tip" link2="link_8.0" reason="Never"/>
<disable_collision link1="link_15.0_tip" link2="link_9.0" reason="Never"/>
<disable_collision link1="link_15.0_tip" link2="link_10.0" reason="Never"/>
<disable_collision link1="link_15.0_tip" link2="link_11.0" reason="Never"/>
<!-- Thumb and middle finger -->
<disable_collision link1="link_12.0" link2="link_4.0" reason="Never"/>
<disable_collision link1="link_12.0" link2="link_5.0" reason="Never"/>
<disable_collision link1="link_12.0" link2="link_6.0" reason="Never"/>
<disable_collision link1="link_12.0" link2="link_7.0" reason="Never"/>
<disable_collision link1="link_12.0" link2="link_7.0_tip" reason="Never"/>
<disable_collision link1="link_13.0" link2="link_4.0" reason="Never"/>
<disable_collision link1="link_13.0" link2="link_5.0" reason="Never"/>
<disable_collision link1="link_13.0" link2="link_6.0" reason="Never"/>
<disable_collision link1="link_13.0" link2="link_7.0" reason="Never"/>
<disable_collision link1="link_13.0" link2="link_7.0_tip" reason="Never"/>
<disable_collision link1="link_14.0" link2="link_4.0" reason="Never"/>
<disable_collision link1="link_14.0" link2="link_5.0" reason="Never"/>
<disable_collision link1="link_14.0" link2="link_6.0" reason="Never"/>
<disable_collision link1="link_14.0" link2="link_7.0" reason="Never"/>
<disable_collision link1="link_14.0" link2="link_7.0_tip" reason="Never"/>
<disable_collision link1="link_15.0" link2="link_4.0" reason="Never"/>
<disable_collision link1="link_15.0" link2="link_5.0" reason="Never"/>
<disable_collision link1="link_15.0" link2="link_6.0" reason="Never"/>
<disable_collision link1="link_15.0" link2="link_7.0" reason="Never"/>
<disable_collision link1="link_15.0" link2="link_7.0_tip" reason="Never"/>
<disable_collision link1="link_15.0_tip" link2="link_4.0" reason="Never"/>
<disable_collision link1="link_15.0_tip" link2="link_5.0" reason="Never"/>
<disable_collision link1="link_15.0_tip" link2="link_6.0" reason="Never"/>
<disable_collision link1="link_15.0_tip" link2="link_7.0" reason="Never"/>
<!-- Thumb and ring finger -->
<disable_collision link1="link_12.0" link2="link_0.0" reason="Never"/>
<disable_collision link1="link_12.0" link2="link_1.0" reason="Never"/>
<disable_collision link1="link_12.0" link2="link_2.0" reason="Never"/>
<disable_collision link1="link_12.0" link2="link_3.0" reason="Never"/>
<disable_collision link1="link_12.0" link2="link_3.0_tip" reason="Never"/>
<disable_collision link1="link_13.0" link2="link_0.0" reason="Never"/>
<disable_collision link1="link_13.0" link2="link_1.0" reason="Never"/>
<disable_collision link1="link_13.0" link2="link_2.0" reason="Never"/>
<disable_collision link1="link_13.0" link2="link_3.0" reason="Never"/>
<disable_collision link1="link_13.0" link2="link_3.0_tip" reason="Never"/>
<disable_collision link1="link_14.0" link2="link_0.0" reason="Never"/>
<disable_collision link1="link_14.0" link2="link_1.0" reason="Never"/>
<disable_collision link1="link_14.0" link2="link_2.0" reason="Never"/>
<disable_collision link1="link_14.0" link2="link_3.0" reason="Never"/>
<disable_collision link1="link_14.0" link2="link_3.0_tip" reason="Never"/>
<disable_collision link1="link_15.0" link2="link_0.0" reason="Never"/>
<disable_collision link1="link_15.0" link2="link_1.0" reason="Never"/>
<disable_collision link1="link_15.0" link2="link_2.0" reason="Never"/>
<disable_collision link1="link_15.0" link2="link_3.0" reason="Never"/>
<disable_collision link1="link_15.0" link2="link_3.0_tip" reason="Never"/>
<disable_collision link1="link_15.0_tip" link2="link_0.0" reason="Never"/>
<disable_collision link1="link_15.0_tip" link2="link_1.0" reason="Never"/>
<disable_collision link1="link_15.0_tip" link2="link_2.0" reason="Never"/>
<disable_collision link1="link_15.0_tip" link2="link_3.0" reason="Never"/>
<!-- Index finger and ring finger -->
<disable_collision link1="link_8.0" link2="link_0.0" reason="Never"/>
<disable_collision link1="link_8.0" link2="link_1.0" reason="Never"/>
<disable_collision link1="link_8.0" link2="link_2.0" reason="Never"/>
<disable_collision link1="link_8.0" link2="link_3.0" reason="Never"/>
<disable_collision link1="link_8.0" link2="link_3.0_tip" reason="Never"/>
<disable_collision link1="link_9.0" link2="link_0.0" reason="Never"/>
<disable_collision link1="link_9.0" link2="link_1.0" reason="Never"/>
<disable_collision link1="link_9.0" link2="link_2.0" reason="Never"/>
<disable_collision link1="link_9.0" link2="link_3.0" reason="Never"/>
<disable_collision link1="link_9.0" link2="link_3.0_tip" reason="Never"/>
<disable_collision link1="link_10.0" link2="link_0.0" reason="Never"/>
<disable_collision link1="link_10.0" link2="link_1.0" reason="Never"/>
<disable_collision link1="link_10.0" link2="link_2.0" reason="Never"/>
<disable_collision link1="link_10.0" link2="link_3.0" reason="Never"/>
<disable_collision link1="link_10.0" link2="link_3.0_tip" reason="Never"/>
<disable_collision link1="link_11.0" link2="link_0.0" reason="Never"/>
<disable_collision link1="link_11.0" link2="link_1.0" reason="Never"/>
<disable_collision link1="link_11.0" link2="link_2.0" reason="Never"/>
<disable_collision link1="link_11.0" link2="link_3.0" reason="Never"/>
<disable_collision link1="link_11.0" link2="link_3.0_tip" reason="Never"/>
<disable_collision link1="link_11.0_tip" link2="link_0.0" reason="Never"/>
<disable_collision link1="link_11.0_tip" link2="link_1.0" reason="Never"/>
<disable_collision link1="link_11.0_tip" link2="link_2.0" reason="Never"/>
<disable_collision link1="link_11.0_tip" link2="link_3.0" reason="Never"/>
<!-- 3. Disable some collisions between fingers and hand base -->
<!-- Thumb -->
<disable_collision link1="link_12.0" link2="link_base" reason="Adjacent"/>
<disable_collision link1="link_13.0" link2="link_base" reason="Never"/>
<disable_collision link1="link_14.0" link2="link_base" reason="Never"/>
<disable_collision link1="link_15.0" link2="link_base" reason="Never"/>
<!-- Index finger -->
<disable_collision link1="link_8.0" link2="link_base" reason="Adjacent"/>
<disable_collision link1="link_9.0" link2="link_base" reason="Never"/>
<disable_collision link1="link_10.0" link2="link_base" reason="Never"/>
<disable_collision link1="link_11.0" link2="link_base" reason="Never"/>
<!-- Middle finger -->
<disable_collision link1="link_4.0" link2="link_base" reason="Adjacent"/>
<disable_collision link1="link_5.0" link2="link_base" reason="Never"/>
<disable_collision link1="link_6.0" link2="link_base" reason="Never"/>
<disable_collision link1="link_7.0" link2="link_base" reason="Never"/>
<!-- Ring finger -->
<disable_collision link1="link_0.0" link2="link_base" reason="Adjacent"/>
<disable_collision link1="link_1.0" link2="link_base" reason="Never"/>
<disable_collision link1="link_2.0" link2="link_base" reason="Never"/>
<disable_collision link1="link_3.0" link2="link_base" reason="Never"/>
</robot>