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src/custom-ur-descriptions/cms_moveit_config/srdf/epick.srdf.xacro

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<?xml version="1.0" ?>
<!-- ePick vacuum gripper -->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <group name="epick_gripper">
        <link name="te_toolside"/>
        <link name="te_coupling"/>
        <link name="epick_base_link"/>
        <link name="epick_body"/>
        <link name="epick_extension"/>
        <link name="epick_suction_cup"/>
        <link name="epick_tip"/>
        <link name="epick_tcp"/>
        <link name="epick_vacuum_state"/>
    </group>

    <group_state name="vacuum_on" group="epick_gripper">
        <joint name="gripper" value="1"/>
    </group_state>
    <group_state name="vacuum_off" group="epick_gripper">
        <joint name="gripper" value="0"/>
    </group_state>

    <end_effector name="epick_gripper" parent_link="flange" group="epick_gripper"/>

    <!-- Tool-changer coupling (W-010-B) collision rules -->
    <disable_collisions link1="te_coupling" link2="te_toolside" reason="Adjacent"/>
    <disable_collisions link1="te_coupling" link2="epick_base_link" reason="Adjacent"/>
    <disable_collisions link1="te_coupling" link2="epick_body" reason="Adjacent"/>
    <disable_collisions link1="te_coupling" link2="te_robotside" reason="Never"/>
    <disable_collisions link1="te_coupling" link2="wrist_extension" reason="Never"/>
    <disable_collisions link1="te_coupling" link2="wrist_1_link" reason="Never"/>
    <disable_collisions link1="te_coupling" link2="wrist_2_link" reason="Never"/>
    <disable_collisions link1="te_coupling" link2="wrist_3_link" reason="Never"/>
    <disable_collisions link1="te_coupling" link2="zivid_arm_mount" reason="Never"/>
    <disable_collisions link1="te_coupling" link2="zivid_base_link" reason="Never"/>
    <disable_collisions link1="te_coupling" link2="epick_extension" reason="Never"/>
    <disable_collisions link1="te_coupling" link2="epick_suction_cup" reason="Never"/>

    <!-- ePick collision rules -->
    <disable_collisions link1="epick_body" link2="epick_extension" reason="Adjacent"/>
    <disable_collisions link1="epick_body" link2="epick_suction_cup" reason="Never"/>
    <disable_collisions link1="epick_body" link2="te_toolside" reason="Adjacent"/>
    <disable_collisions link1="epick_body" link2="te_robotside" reason="Never"/>
    <disable_collisions link1="epick_body" link2="wrist_extension" reason="Never"/>
    <disable_collisions link1="epick_extension" link2="epick_suction_cup" reason="Adjacent"/>
    <disable_collisions link1="epick_extension" link2="te_toolside" reason="Never"/>
    <disable_collisions link1="epick_extension" link2="wrist_1_link" reason="Never"/>
    <disable_collisions link1="epick_extension" link2="wrist_2_link" reason="Never"/>
    <disable_collisions link1="epick_extension" link2="wrist_3_link" reason="Never"/>
    <disable_collisions link1="epick_extension" link2="zivid_arm_mount" reason="Never"/>
    <disable_collisions link1="epick_extension" link2="zivid_base_link" reason="Never"/>
    <disable_collisions link1="epick_body" link2="wrist_1_link" reason="Never"/>
    <disable_collisions link1="epick_body" link2="wrist_2_link" reason="Never"/>
    <disable_collisions link1="epick_body" link2="wrist_3_link" reason="Never"/>
    <disable_collisions link1="epick_body" link2="zivid_arm_mount" reason="Never"/>
    <disable_collisions link1="epick_body" link2="zivid_base_link" reason="Never"/>
    <disable_collisions link1="epick_suction_cup" link2="te_toolside" reason="Never"/>
    <disable_collisions link1="epick_suction_cup" link2="wrist_1_link" reason="Never"/>
    <disable_collisions link1="epick_suction_cup" link2="wrist_2_link" reason="Never"/>
    <disable_collisions link1="epick_suction_cup" link2="wrist_3_link" reason="Never"/>
    <disable_collisions link1="epick_suction_cup" link2="zivid_arm_mount" reason="Never"/>
    <disable_collisions link1="epick_suction_cup" link2="zivid_base_link" reason="Never"/>

    <!-- Wrist extension + tool exchanger + camera collision rules -->
    <disable_collisions link1="wrist_extension" link2="wrist_1_link" reason="Never"/>
    <disable_collisions link1="wrist_extension" link2="wrist_2_link" reason="Never"/>
    <disable_collisions link1="wrist_extension" link2="wrist_3_link" reason="Never"/>
    <disable_collisions link1="wrist_extension" link2="flange" reason="Adjacent"/>
    <disable_collisions link1="wrist_extension" link2="zivid_arm_mount" reason="Adjacent"/>
    <disable_collisions link1="wrist_extension" link2="zivid_base_link" reason="Never"/>
    <disable_collisions link1="te_robotside" link2="wrist_extension" reason="Adjacent"/>
    <disable_collisions link1="te_robotside" link2="wrist_1_link" reason="Never"/>
    <disable_collisions link1="te_robotside" link2="wrist_2_link" reason="Never"/>
    <disable_collisions link1="te_robotside" link2="wrist_3_link" reason="Never"/>
    <disable_collisions link1="te_robotside" link2="zivid_arm_mount" reason="Never"/>
    <disable_collisions link1="te_robotside" link2="zivid_base_link" reason="Never"/>
    <disable_collisions link1="te_toolside" link2="te_robotside" reason="Adjacent"/>
    <disable_collisions link1="te_toolside" link2="wrist_extension" reason="Never"/>
    <disable_collisions link1="te_toolside" link2="wrist_1_link" reason="Never"/>
    <disable_collisions link1="te_toolside" link2="wrist_2_link" reason="Never"/>
    <disable_collisions link1="te_toolside" link2="wrist_3_link" reason="Never"/>
    <disable_collisions link1="te_toolside" link2="zivid_arm_mount" reason="Never"/>
    <disable_collisions link1="te_toolside" link2="zivid_base_link" reason="Never"/>
    <disable_collisions link1="wrist_2_link" link2="zivid_arm_mount" reason="Never"/>
    <disable_collisions link1="wrist_2_link" link2="zivid_base_link" reason="Never"/>
    <disable_collisions link1="wrist_3_link" link2="zivid_arm_mount" reason="Never"/>
    <disable_collisions link1="wrist_3_link" link2="zivid_base_link" reason="Never"/>
    <disable_collisions link1="zivid_arm_mount" link2="zivid_base_link" reason="Adjacent"/>
    <disable_collisions link1="flange" link2="zivid_arm_mount" reason="Adjacent"/>
</robot>