<?xml version="1.0" encoding="UTF-8"?>
<robot name="panda">
    <group name="arm">
        <joint name="panda_joint1"/>
        <joint name="panda_joint2"/>
        <joint name="panda_joint3"/>
        <joint name="panda_joint4"/>
        <joint name="panda_joint5"/>
        <joint name="panda_joint6"/>
        <joint name="panda_joint7"/>
    </group>

    <group name="hand">
        <joint name="panda_finger_joint1"/>
    </group>

    <group name="arm_and_hand">
        <group name="arm"/>
        <group name="hand"/>
    </group>

    <group_state name="default" group="arm_and_hand">
        <joint name="panda_finger_joint1" value="0.001"/>
        <joint name="panda_joint1" value="0"/>
        <joint name="panda_joint2" value="-0.785398"/>
        <joint name="panda_joint3" value="0"/>
        <joint name="panda_joint4" value="-2.35619"/>
        <joint name="panda_joint5" value="0"/>
        <joint name="panda_joint6" value="1.5707"/>
        <joint name="panda_joint7" value="0.785398"/>
    </group_state>

    <end_effector name="end_effector" parent_link="panda_hand_tcp" group="arm"/>

    <disable_collisions link1="panda_hand" link2="panda_leftfinger" reason="Adjacent"/>
    <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never"/>
    <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never"/>
    <disable_collisions link1="panda_hand" link2="panda_link5" reason="Default"/>
    <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never"/>
    <disable_collisions link1="panda_hand" link2="panda_link7" reason="Adjacent"/>
    <disable_collisions link1="panda_hand" link2="panda_rightfinger" reason="Adjacent"/>
    <disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never"/>
    <disable_collisions link1="panda_leftfinger" link2="panda_link4" reason="Never"/>
    <disable_collisions link1="panda_leftfinger" link2="panda_link6" reason="Never"/>
    <disable_collisions link1="panda_leftfinger" link2="panda_link7" reason="Never"/>
    <disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Default"/>
    <disable_collisions link1="panda_link0" link2="panda_link1" reason="Adjacent"/>
    <disable_collisions link1="panda_link0" link2="panda_link2" reason="Never"/>
    <disable_collisions link1="panda_link0" link2="panda_link3" reason="Never"/>
    <disable_collisions link1="panda_link0" link2="panda_link4" reason="Never"/>
    <disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent"/>
    <disable_collisions link1="panda_link1" link2="panda_link3" reason="Never"/>
    <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never"/>
    <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent"/>
    <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never"/>
    <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent"/>
    <disable_collisions link1="panda_link3" link2="panda_link5" reason="Never"/>
    <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never"/>
    <disable_collisions link1="panda_link3" link2="panda_link7" reason="Never"/>
    <disable_collisions link1="panda_link3" link2="panda_rightfinger" reason="Never"/>
    <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent"/>
    <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never"/>
    <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never"/>
    <disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never"/>
    <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent"/>
    <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default"/>
    <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent"/>
    <disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never"/>
    <disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never"/>

    <!-- gripper -->
    <gripper name="gripper" clearance="0.05">
      <position xyz="0 0 0" wxyz="1 0 0 0" />
      <link name="panda_hand_tcp"/>
    </gripper>
</robot>
