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

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<?xml version="1.0" ?>
<!-- Robotiq Hand-E parallel gripper -->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <group name="hande_gripper">
        <link name="robotiq_hande_coupler"/>
        <link name="robotiq_hande_link"/>
        <link name="robotiq_hande_end"/>
        <link name="robotiq_hande_left_finger"/>
        <link name="robotiq_hande_right_finger"/>
        <joint name="robotiq_hande_left_finger_joint"/>
        <joint name="robotiq_hande_right_finger_joint"/>
    </group>

    <group_state name="hande_open" group="hande_gripper">
        <joint name="robotiq_hande_left_finger_joint" value="0.025"/>
    </group_state>
    <group_state name="hande_closed" group="hande_gripper">
        <joint name="robotiq_hande_left_finger_joint" value="0"/>
    </group_state>

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

    <!-- Hand-E collision rules -->
    <disable_collisions link1="robotiq_hande_coupler" link2="robotiq_hande_left_finger" reason="Never"/>
    <disable_collisions link1="robotiq_hande_coupler" link2="robotiq_hande_link" reason="Adjacent"/>
    <disable_collisions link1="robotiq_hande_coupler" link2="robotiq_hande_right_finger" reason="Never"/>
    <disable_collisions link1="robotiq_hande_coupler" link2="te_toolside" reason="Adjacent"/>
    <disable_collisions link1="robotiq_hande_coupler" link2="te_robotside" reason="Never"/>
    <disable_collisions link1="robotiq_hande_coupler" link2="wrist_extension" reason="Never"/>
    <disable_collisions link1="robotiq_hande_coupler" link2="wrist_1_link" reason="Never"/>
    <disable_collisions link1="robotiq_hande_coupler" link2="wrist_2_link" reason="Never"/>
    <disable_collisions link1="robotiq_hande_coupler" link2="wrist_3_link" reason="Never"/>
    <disable_collisions link1="robotiq_hande_coupler" link2="zivid_arm_mount" reason="Never"/>
    <disable_collisions link1="robotiq_hande_coupler" link2="zivid_base_link" reason="Never"/>
    <disable_collisions link1="robotiq_hande_left_finger" link2="robotiq_hande_link" reason="Adjacent"/>
    <disable_collisions link1="robotiq_hande_left_finger" link2="robotiq_hande_right_finger" reason="Default"/>
    <disable_collisions link1="robotiq_hande_left_finger" link2="te_toolside" reason="Never"/>
    <disable_collisions link1="robotiq_hande_left_finger" link2="wrist_1_link" reason="Never"/>
    <disable_collisions link1="robotiq_hande_left_finger" link2="wrist_2_link" reason="Never"/>
    <disable_collisions link1="robotiq_hande_left_finger" link2="wrist_3_link" reason="Never"/>
    <disable_collisions link1="robotiq_hande_left_finger" link2="zivid_arm_mount" reason="Never"/>
    <disable_collisions link1="robotiq_hande_left_finger" link2="zivid_base_link" reason="Never"/>
    <disable_collisions link1="robotiq_hande_link" link2="robotiq_hande_right_finger" reason="Adjacent"/>
    <disable_collisions link1="robotiq_hande_link" link2="te_toolside" reason="Never"/>
    <disable_collisions link1="robotiq_hande_link" link2="wrist_1_link" reason="Never"/>
    <disable_collisions link1="robotiq_hande_link" link2="wrist_2_link" reason="Never"/>
    <disable_collisions link1="robotiq_hande_link" link2="wrist_3_link" reason="Never"/>
    <disable_collisions link1="robotiq_hande_link" link2="zivid_arm_mount" reason="Never"/>
    <disable_collisions link1="robotiq_hande_link" link2="zivid_base_link" reason="Never"/>
    <disable_collisions link1="robotiq_hande_right_finger" link2="te_toolside" reason="Never"/>
    <disable_collisions link1="robotiq_hande_right_finger" link2="wrist_1_link" reason="Never"/>
    <disable_collisions link1="robotiq_hande_right_finger" link2="wrist_2_link" reason="Never"/>
    <disable_collisions link1="robotiq_hande_right_finger" link2="wrist_3_link" reason="Never"/>
    <disable_collisions link1="robotiq_hande_right_finger" link2="zivid_arm_mount" reason="Never"/>
    <disable_collisions link1="robotiq_hande_right_finger" 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>