Verified Commit 4975a110 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

romeo: add robot description

parent f0436cda
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#!/bin/sh
for i in `find . -name '*.wrl'`; do
meshlabserver -i $i -o `pwd`/$(echo `basename $i` | sed 's|.wrl$|.dae|')
done
<?xml version="1.0"?>
<!--
Aldebaran Robotics Romeo SRDF model
This file defines semantics group of joints.
It is an alternative way of specifying semantics on the robot
structure.
It also provides:
- the half-sitting robot state,
TODO: - add the grippers
-->
<robot name="romeo">
<gripper name="r_hand" clearance="0.025">
<position>0.01 0.01 0 0.923879532511 0.0 0.0 0.382683432365</position>
<link name="r_gripper"/>
</gripper>
<gripper name="l_hand" clearance="0.025">
<position>0.01 0.01 0 0.0 0.923879532511 0.382683432365 0.0</position>
<link name="l_gripper"/>
</gripper>
<!-- Romeo groups -->
<!-- To remove when the grippers will be added
<group name="r_arm">
<chain base_link="torso" tip_link="r_gripper"/>
</group>
<group name="l_arm">
<chain base_link="torso" tip_link="l_gripper"/>
</group>
-->
<group name="r_leg">
<chain base_link="base_link" tip_link="r_sole"/>
</group>
<group name="l_leg">
<chain base_link="base_link" tip_link="l_sole"/>
</group>
<!-- To remove when the grippers will be added
<group name="arms">
<group name="l_arm"/>
<group name="r_arm"/>
</group>
-->
<group name="all">
</group>
<!-- Romeo end effector -->
<!-- To remove when the grippers will be added
<end_effector name="r_arm" parent_link="r_gripper" group="r_arm"/>
<end_effector name="l_arm" parent_link="l_gripper" group="l_arm"/>
-->
<end_effector name="r_leg" parent_link="r_sole" group="r_leg"/>
<end_effector name="l_leg" parent_link="l_sole" group="l_leg"/>
<!-- Romeo pre-defined states -->
<!-- Romeo pre-defined states -->
<group_state name="half_sitting" group="all">
<joint name="TrunkYaw" value="0" />
<joint name="NeckYaw" value="0" />
<joint name="NeckPitch" value="0" />
<joint name="HeadPitch" value="0" />
<joint name="HeadRoll" value="0" />
<joint name="LShoulderPitch" value="1.5" />
<joint name="LShoulderYaw" value="0.6" />
<joint name="LElbowRoll" value="-0.5" />
<joint name="LElbowYaw" value="-1.05" />
<joint name="LWristRoll" value="-0.4" />
<joint name="LWristYaw" value="-0.3" />
<joint name="LWristPitch" value="-0.2" />
<joint name="RShoulderPitch" value="1.5" />
<joint name="RShoulderYaw" value="-0.6" />
<joint name="RElbowRoll" value="0.5" />
<joint name="RElbowYaw" value="1.05" />
<joint name="RWristRoll" value="-0.4" />
<joint name="RWristYaw" value="-0.3" />
<joint name="RWristPitch" value="-0.2" />
<joint name="LHipYaw" value="0" />
<joint name="LHipRoll" value="0" />
<joint name="LHipPitch" value="-0.3490658" />
<joint name="LKneePitch" value="0.6981317" />
<joint name="LAnklePitch" value="-0.3490658" />
<joint name="LAnkleRoll" value="0" />
<joint name="LToePitch" value="0" />
<joint name="RHipYaw" value="0" />
<joint name="RHipRoll" value="0" />
<joint name="RHipPitch" value="-0.3490658" />
<joint name="RKneePitch" value="0.6981317" />
<joint name="RAnklePitch" value="-0.3490658" />
<joint name="RAnkleRoll" value="0" />
<joint name="RToePitch" value="0" />
<joint name="LFinger11" value="0" />
<joint name="LFinger12" value="0" />
<joint name="LFinger13" value="0" />
<joint name="LFinger21" value="0" />
<joint name="LFinger22" value="0" />
<joint name="LFinger23" value="0" />
<joint name="LFinger31" value="0" />
<joint name="LFinger32" value="0" />
<joint name="LFinger33" value="0" />
<joint name="LThumb1" value="0" />
<joint name="LThumb2" value="0" />
<joint name="LThumb3" value="0" />
<joint name="RFinger11" value="0" />
<joint name="RFinger12" value="0" />
<joint name="RFinger13" value="0" />
<joint name="RFinger21" value="0" />
<joint name="RFinger22" value="0" />
<joint name="RFinger23" value="0" />
<joint name="RFinger31" value="0" />
<joint name="RFinger32" value="0" />
<joint name="RFinger33" value="0" />
<joint name="RThumb1" value="0" />
<joint name="RThumb2" value="0" />
<joint name="RThumb3" value="0" />
<joint name="LEyeYaw" value="0" />
<joint name="LEyePitch" value="0" />
<joint name="REyeYaw" value="0" />
<joint name="REyePitch" value="0" />
</group_state>
<!--
Romeo Specificities.
foot height = y axis
foot width = x axis
foot depth = z axis
-->
<specificities>
<feet>
<right>
<size height="0.1935" width="0.121" depth="0.0684" />
<anklePosition x="0.0" y="0.0" z="0.0684" />
</right>
<left>
<size height="0.1935" width="0.121" depth="0.0684" />
<anklePosition x="0.0" y="0.0" z="0.0684" />
</left>
</feet>
</specificities>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="HeadRollLink" link2="LHipPitchLink" reason="Never" />
<disable_collisions link1="HeadRollLink" link2="LKneePitchLink" reason="Never" />
<disable_collisions link1="HeadRollLink" link2="NeckPitchLink" reason="Adjacent" />
<disable_collisions link1="HeadRollLink" link2="RFinger22Link" reason="Never" />
<disable_collisions link1="HeadRollLink" link2="RFinger23Link" reason="Never" />
<disable_collisions link1="HeadRollLink" link2="RHipPitchLink" reason="Never" />
<disable_collisions link1="HeadRollLink" link2="RKneePitchLink" reason="Never" />
<disable_collisions link1="HeadRollLink" link2="body" reason="Never" />
<disable_collisions link1="HeadRollLink" link2="l_ankle" reason="Never" />
<disable_collisions link1="HeadRollLink" link2="r_ankle" reason="Never" />
<disable_collisions link1="HeadRollLink" link2="torso" reason="Default" />
<disable_collisions link1="LElbowYawLink" link2="LFinger11Link" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="LFinger12Link" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="LFinger13Link" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="LFinger21Link" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="LFinger22Link" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="LFinger23Link" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="LFinger31Link" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="LFinger32Link" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="LFinger33Link" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="LKneePitchLink" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="LShoulderYawLink" reason="Adjacent" />
<disable_collisions link1="LElbowYawLink" link2="LThumb1Link" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="LThumb2Link" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="LThumb3Link" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="LWristRollLink" reason="Adjacent" />
<disable_collisions link1="LElbowYawLink" link2="LWristYawLink" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="NeckPitchLink" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="RHipPitchLink" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="RKneePitchLink" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="RShoulderYawLink" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="RWristRollLink" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="RWristYawLink" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="l_ankle" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="l_wrist" reason="Never" />
<disable_collisions link1="LElbowYawLink" link2="r_ankle" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="LFinger12Link" reason="Adjacent" />
<disable_collisions link1="LFinger11Link" link2="LFinger13Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="LFinger21Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="LFinger22Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="LFinger23Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="LFinger31Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="LFinger32Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="LFinger33Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="LShoulderYawLink" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="LThumb1Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="LThumb2Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="LThumb3Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="LWristRollLink" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="LWristYawLink" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="NeckPitchLink" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="RFinger11Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="RFinger12Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="RFinger13Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="RFinger21Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="RFinger22Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="RFinger23Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="RFinger31Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="RFinger32Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="RFinger33Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="RThumb1Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="RThumb2Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="RThumb3Link" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="RWristYawLink" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="l_ankle" reason="Never" />
<disable_collisions link1="LFinger11Link" link2="l_wrist" reason="Adjacent" />
<disable_collisions link1="LFinger11Link" link2="r_ankle" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="LFinger13Link" reason="Adjacent" />
<disable_collisions link1="LFinger12Link" link2="LFinger21Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="LFinger22Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="LFinger23Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="LFinger31Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="LFinger32Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="LFinger33Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="LShoulderYawLink" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="LThumb1Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="LThumb2Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="LThumb3Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="LWristRollLink" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="LWristYawLink" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="NeckPitchLink" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="RFinger12Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="RFinger13Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="RFinger21Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="RFinger22Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="RFinger23Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="RFinger31Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="RFinger32Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="RFinger33Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="RThumb1Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="RThumb2Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="RThumb3Link" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="RWristYawLink" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="l_ankle" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="l_wrist" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="r_ankle" reason="Never" />
<disable_collisions link1="LFinger12Link" link2="r_wrist" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="LFinger21Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="LFinger22Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="LFinger23Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="LFinger31Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="LFinger32Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="LFinger33Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="LShoulderYawLink" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="LThumb1Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="LThumb2Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="LThumb3Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="LWristRollLink" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="LWristYawLink" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="NeckPitchLink" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="RFinger11Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="RFinger12Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="RFinger13Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="RFinger22Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="RFinger23Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="RFinger31Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="RFinger32Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="RFinger33Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="RThumb1Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="RThumb2Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="RThumb3Link" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="RWristRollLink" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="RWristYawLink" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="l_ankle" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="l_wrist" reason="Default" />
<disable_collisions link1="LFinger13Link" link2="r_ankle" reason="Never" />
<disable_collisions link1="LFinger13Link" link2="r_wrist" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="LFinger22Link" reason="Adjacent" />
<disable_collisions link1="LFinger21Link" link2="LFinger23Link" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="LFinger31Link" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="LFinger32Link" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="LFinger33Link" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="LShoulderYawLink" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="LThumb1Link" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="LThumb2Link" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="LThumb3Link" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="LWristRollLink" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="LWristYawLink" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="NeckPitchLink" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="RFinger11Link" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="RFinger12Link" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="RFinger13Link" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="RFinger23Link" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="RFinger31Link" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="RFinger32Link" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="RFinger33Link" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="RThumb2Link" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="RThumb3Link" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="RWristRollLink" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="RWristYawLink" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="l_ankle" reason="Never" />
<disable_collisions link1="LFinger21Link" link2="l_wrist" reason="Adjacent" />
<disable_collisions link1="LFinger21Link" link2="r_ankle" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="LFinger23Link" reason="Adjacent" />
<disable_collisions link1="LFinger22Link" link2="LFinger31Link" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="LFinger32Link" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="LFinger33Link" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="LShoulderYawLink" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="LThumb1Link" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="LThumb2Link" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="LThumb3Link" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="LWristRollLink" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="LWristYawLink" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="NeckPitchLink" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="RFinger11Link" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="RFinger12Link" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="RFinger13Link" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="RFinger21Link" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="RFinger22Link" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="RFinger23Link" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="RFinger33Link" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="RThumb2Link" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="RWristYawLink" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="l_ankle" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="l_wrist" reason="Never" />
<disable_collisions link1="LFinger22Link" link2="r_ankle" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="LFinger31Link" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="LFinger32Link" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="LFinger33Link" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="LShoulderYawLink" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="LThumb1Link" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="LThumb2Link" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="LThumb3Link" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="LWristRollLink" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="LWristYawLink" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="NeckPitchLink" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="RFinger11Link" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="RFinger12Link" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="RFinger13Link" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="RFinger21Link" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="RFinger22Link" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="RFinger33Link" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="RThumb1Link" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="RThumb2Link" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="RThumb3Link" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="RWristYawLink" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="l_ankle" reason="Never" />
<disable_collisions link1="LFinger23Link" link2="l_wrist" reason="Default" />
<disable_collisions link1="LFinger23Link" link2="r_ankle" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="LFinger32Link" reason="Adjacent" />
<disable_collisions link1="LFinger31Link" link2="LFinger33Link" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="LShoulderYawLink" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="LThumb1Link" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="LThumb2Link" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="LThumb3Link" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="LWristRollLink" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="LWristYawLink" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="NeckPitchLink" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="RFinger11Link" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="RFinger12Link" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="RFinger13Link" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="RFinger22Link" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="RFinger31Link" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="RFinger32Link" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="RFinger33Link" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="RThumb1Link" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="RThumb2Link" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="RThumb3Link" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="RWristYawLink" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="l_ankle" reason="Never" />
<disable_collisions link1="LFinger31Link" link2="l_wrist" reason="Adjacent" />
<disable_collisions link1="LFinger31Link" link2="r_ankle" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="LFinger33Link" reason="Adjacent" />
<disable_collisions link1="LFinger32Link" link2="LShoulderYawLink" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="LThumb1Link" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="LThumb2Link" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="LThumb3Link" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="LWristRollLink" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="LWristYawLink" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="NeckPitchLink" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="RFinger11Link" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="RFinger12Link" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="RFinger13Link" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="RFinger22Link" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="RFinger31Link" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="RFinger32Link" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="RThumb1Link" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="RThumb2Link" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="RWristRollLink" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="RWristYawLink" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="l_ankle" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="l_wrist" reason="Never" />
<disable_collisions link1="LFinger32Link" link2="r_ankle" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="LShoulderYawLink" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="LThumb1Link" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="LThumb2Link" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="LThumb3Link" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="LWristRollLink" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="LWristYawLink" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="NeckPitchLink" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="RFinger11Link" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="RFinger12Link" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="RFinger13Link" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="RFinger21Link" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="RFinger22Link" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="RFinger23Link" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="RThumb1Link" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="RWristRollLink" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="RWristYawLink" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="l_ankle" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="l_wrist" reason="Never" />
<disable_collisions link1="LFinger33Link" link2="r_ankle" reason="Never" />
<disable_collisions link1="LHipPitchLink" link2="LKneePitchLink" reason="Adjacent" />
<disable_collisions link1="LHipPitchLink" link2="LShoulderYawLink" reason="Never" />
<disable_collisions link1="LHipPitchLink" link2="NeckPitchLink" reason="Never" />
<disable_collisions link1="LHipPitchLink" link2="RHipPitchLink" reason="Default" />
<disable_collisions link1="LHipPitchLink" link2="RKneePitchLink" reason="Never" />
<disable_collisions link1="LHipPitchLink" link2="RShoulderYawLink" reason="Never" />
<disable_collisions link1="LHipPitchLink" link2="body" reason="Adjacent" />
<disable_collisions link1="LHipPitchLink" link2="l_ankle" reason="Never" />
<disable_collisions link1="LHipPitchLink" link2="r_ankle" reason="Never" />
<disable_collisions link1="LHipPitchLink" link2="torso" reason="Never" />
<disable_collisions link1="LKneePitchLink" link2="LShoulderYawLink" reason="Never" />
<disable_collisions link1="LKneePitchLink" link2="LThumb3Link" reason="Never" />
<disable_collisions link1="LKneePitchLink" link2="NeckPitchLink" reason="Never" />
<disable_collisions link1="LKneePitchLink" link2="RHipPitchLink" reason="Never" />
<disable_collisions link1="LKneePitchLink" link2="RKneePitchLink" reason="Default" />
<disable_collisions link1="LKneePitchLink" link2="RShoulderYawLink" reason="Never" />
<disable_collisions link1="LKneePitchLink" link2="body" reason="Never" />
<disable_collisions link1="LKneePitchLink" link2="l_ankle" reason="Adjacent" />
<disable_collisions link1="LKneePitchLink" link2="torso" reason="Never" />
<disable_collisions link1="LShoulderYawLink" link2="LThumb1Link" reason="Never" />
<disable_collisions link1="LShoulderYawLink" link2="LThumb2Link" reason="Never" />
<disable_collisions link1="LShoulderYawLink" link2="LThumb3Link" reason="Never" />
<disable_collisions link1="LShoulderYawLink" link2="LWristRollLink" reason="Never" />
<disable_collisions link1="LShoulderYawLink" link2="LWristYawLink" reason="Never" />
<disable_collisions link1="LShoulderYawLink" link2="NeckPitchLink" reason="Never" />
<disable_collisions link1="LShoulderYawLink" link2="RElbowYawLink" reason="Never" />
<disable_collisions link1="LShoulderYawLink" link2="RHipPitchLink" reason="Never" />
<disable_collisions link1="LShoulderYawLink" link2="RKneePitchLink" reason="Never" />
<disable_collisions link1="LShoulderYawLink" link2="RShoulderYawLink" reason="Never" />
<disable_collisions link1="LShoulderYawLink" link2="RWristRollLink" reason="Never" />
<disable_collisions link1="LShoulderYawLink" link2="RWristYawLink" reason="Never" />
<disable_collisions link1="LShoulderYawLink" link2="body" reason="Never" />
<disable_collisions link1="LShoulderYawLink" link2="l_ankle" reason="Never" />
<disable_collisions link1="LShoulderYawLink" link2="l_wrist" reason="Never" />
<disable_collisions link1="LShoulderYawLink" link2="r_ankle" reason="Never" />
<disable_collisions link1="LShoulderYawLink" link2="torso" reason="Adjacent" />
<disable_collisions link1="LThumb1Link" link2="LThumb2Link" reason="Adjacent" />
<disable_collisions link1="LThumb1Link" link2="LThumb3Link" reason="Never" />
<disable_collisions link1="LThumb1Link" link2="LWristRollLink" reason="Never" />
<disable_collisions link1="LThumb1Link" link2="LWristYawLink" reason="Never" />
<disable_collisions link1="LThumb1Link" link2="NeckPitchLink" reason="Never" />
<disable_collisions link1="LThumb1Link" link2="RFinger11Link" reason="Never" />
<disable_collisions link1="LThumb1Link" link2="RFinger12Link" reason="Never" />
<disable_collisions link1="LThumb1Link" link2="RFinger13Link" reason="Never" />
<disable_collisions link1="LThumb1Link" link2="RFinger22Link" reason="Never" />
<disable_collisions link1="LThumb1Link" link2="RFinger31Link" reason="Never" />
<disable_collisions link1="LThumb1Link" link2="RFinger32Link" reason="Never" />
<disable_collisions link1="LThumb1Link" link2="RFinger33Link" reason="Never" />
<disable_collisions link1="LThumb1Link" link2="RShoulderYawLink" reason="Never" />
<disable_collisions link1="LThumb1Link" link2="RThumb1Link" reason="Never" />
<disable_collisions link1="LThumb1Link" link2="RThumb2Link" reason="Never" />
<disable_collisions link1="LThumb1Link" link2="RThumb3Link" reason="Never" />
<disable_collisions link1="LThumb1Link" link2="RWristRollLink" reason="Never" />
<disable_collisions link1="LThumb1Link" link2="RWristYawLink" reason="Never" />
<disable_collisions link1="LThumb1Link" link2="l_ankle" reason="Never" />
<disable_collisions link1="LThumb1Link" link2="l_wrist" reason="Adjacent" />
<disable_collisions link1="LThumb1Link" link2="r_ankle" reason="Never" />
<disable_collisions link1="LThumb2Link" link2="LThumb3Link" reason="Adjacent" />
<disable_collisions link1="LThumb2Link" link2="LWristRollLink" reason="Never" />
<disable_collisions link1="LThumb2Link" link2="LWristYawLink" reason="Never" />
<disable_collisions link1="LThumb2Link" link2="NeckPitchLink" reason="Never" />
<disable_collisions link1="LThumb2Link" link2="RFinger11Link" reason="Never" />
<disable_collisions link1="LThumb2Link" link2="RFinger22Link" reason="Never" />
<disable_collisions link1="LThumb2Link" link2="RFinger31Link" reason="Never" />
<disable_collisions link1="LThumb2Link" link2="RFinger32Link" reason="Never" />
<disable_collisions link1="LThumb2Link" link2="RFinger33Link" reason="Never" />
<disable_collisions link1="LThumb2Link" link2="RHipPitchLink" reason="Never" />
<disable_collisions link1="LThumb2Link" link2="RKneePitchLink" reason="Never" />
<disable_collisions link1="LThumb2Link" link2="RShoulderYawLink" reason="Never" />
<disable_collisions link1="LThumb2Link" link2="RThumb1Link" reason="Never" />
<disable_collisions link1="LThumb2Link" link2="RThumb2Link" reason="Never" />
<disable_collisions link1="LThumb2Link" link2="RThumb3Link" reason="Never" />
<disable_collisions link1="LThumb2Link" link2="RWristRollLink" reason="Never" />
<disable_collisions link1="LThumb2Link" link2="RWristYawLink" reason="Never" />
<disable_collisions link1="LThumb2Link" link2="l_ankle" reason="Never" />
<disable_collisions link1="LThumb2Link" link2="l_wrist" reason="Default" />
<disable_collisions link1="LThumb2Link" link2="r_ankle" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="LWristRollLink" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="LWristYawLink" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="NeckPitchLink" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="RFinger12Link" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="RFinger13Link" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="RFinger21Link" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="RFinger22Link" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="RFinger23Link" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="RFinger31Link" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="RFinger32Link" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="RFinger33Link" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="RHipPitchLink" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="RShoulderYawLink" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="RThumb1Link" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="RThumb2Link" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="RThumb3Link" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="RWristRollLink" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="RWristYawLink" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="l_ankle" reason="Never" />
<disable_collisions link1="LThumb3Link" link2="l_wrist" reason="Default" />
<disable_collisions link1="LThumb3Link" link2="r_ankle" reason="Never" />
<disable_collisions link1="LWristRollLink" link2="LWristYawLink" reason="Adjacent" />
<disable_collisions link1="LWristRollLink" link2="NeckPitchLink" reason="Never" />
<disable_collisions link1="LWristRollLink" link2="RFinger11Link" reason="Never" />
<disable_collisions link1="LWristRollLink" link2="RFinger12Link" reason="Never" />
<disable_collisions link1="LWristRollLink" link2="RFinger13Link" reason="Never" />
<disable_collisions link1="LWristRollLink" link2="RFinger21Link" reason="Never" />
<disable_collisions link1="LWristRollLink" link2="RFinger23Link" reason="Never" />
<disable_collisions link1="LWristRollLink" link2="RFinger32Link" reason="Never" />
<disable_collisions link1="LWristRollLink" link2="RHipPitchLink" reason="Never" />
<disable_collisions link1="LWristRollLink" link2="RKneePitchLink" reason="Never" />
<disable_collisions link1="LWristRollLink" link2="RShoulderYawLink" reason="Never" />
<disable_collisions link1="LWristRollLink" link2="l_ankle" reason="Never" />
<disable_collisions link1="LWristRollLink" link2="l_wrist" reason="Always" />
<disable_collisions link1="LWristRollLink" link2="r_ankle" reason="Never" />
<disable_collisions link1="LWristYawLink" link2="NeckPitchLink" reason="Never" />
<disable_collisions link1="LWristYawLink" link2="RFinger21Link" reason="Never" />
<disable_collisions link1="LWristYawLink" link2="RFinger23Link" reason="Never" />
<disable_collisions link1="LWristYawLink" link2="RFinger32Link" reason="Never" />
<disable_collisions link1="LWristYawLink" link2="RFinger33Link" reason="Never" />
<disable_collisions link1="LWristYawLink" link2="RHipPitchLink" reason="Never" />
<disable_collisions link1="LWristYawLink" link2="RKneePitchLink" reason="Never" />
<disable_collisions link1="LWristYawLink" link2="RShoulderYawLink" reason="Never" />
<disable_collisions link1="LWristYawLink" link2="RThumb1Link" reason="Never" />
<disable_collisions link1="LWristYawLink" link2="RThumb2Link" reason="Never" />
<disable_collisions link1="LWristYawLink" link2="RThumb3Link" reason="Never" />
<disable_collisions link1="LWristYawLink" link2="RWristRollLink" reason="Never" />
<disable_collisions link1="LWristYawLink" link2="RWristYawLink" reason="Never" />
<disable_collisions link1="LWristYawLink" link2="l_ankle" reason="Never" />
<disable_collisions link1="LWristYawLink" link2="l_wrist" reason="Adjacent" />
<disable_collisions link1="LWristYawLink" link2="r_ankle" reason="Never" />
<disable_collisions link1="NeckPitchLink" link2="RElbowYawLink" reason="Never" />
<disable_collisions link1="NeckPitchLink" link2="RFinger21Link" reason="Never" />
<disable_collisions link1="NeckPitchLink" link2="RFinger22Link" reason="Never" />
<disable_collisions link1="NeckPitchLink" link2="RFinger23Link" reason="Never" />
<disable_collisions link1="NeckPitchLink" link2="RFinger31Link" reason="Never" />
<disable_collisions link1="NeckPitchLink" link2="RFinger32Link" reason="Never" />
<disable_collisions link1="NeckPitchLink" link2="RFinger33Link" reason="Never" />
<disable_collisions link1="NeckPitchLink" link2="RHipPitchLink" reason="Never" />
<disable_collisions link1="NeckPitchLink" link2="RKneePitchLink" reason="Never" />
<disable_collisions link1="NeckPitchLink" link2="RShoulderYawLink" reason="Never" />
<disable_collisions link1="NeckPitchLink" link2="RThumb1Link" reason="Never" />
<disable_collisions link1="NeckPitchLink" link2="RThumb2Link" reason="Never" />
<disable_collisions link1="NeckPitchLink" link2="RThumb3Link" reason="Never" />
<disable_collisions link1="NeckPitchLink" link2="RWristRollLink" reason="Never" />
<disable_collisions link1="NeckPitchLink" link2="RWristYawLink" reason="Never" />
<disable_collisions link1="NeckPitchLink" link2="body" reason="Never" />
<disable_collisions link1="NeckPitchLink" link2="l_ankle" reason="Never" />