text: # TODO: maybe some OpenRAVE links are disabled
  # http://openrave.org/docs/0.8.2/collada_robot_extensions/
  
  # < extra
  # type = "collision" >
  # < technique
  # profile = "OpenRAVE"
  # ignore_link_pair
  
  
  
  NEVER_COLLISIONS_TIAGO = [('base_link','base_antenna_left_link'), ('base_link','base_antenna_right_link'), ('base_link','wheel_right_link'), ('base_link','wheel_left_link'), ('base_link','ignore_caster_front_right_2_link'), ('base_link','ignore_caster_front_left_2_link'), ('base_link','ignore_caster_back_right_2_link'), ('base_link','ignore_caster_back_left_2_link'), ('base_link','torso_fixed_link'), ('base_link','torso_lift_link'), ('base_link','head_1_link'), ('base_link','head_2_link'), ('base_link','arm_left_1_link'), ('base_link','arm_left_2_link'), ('base_link','arm_left_3_link'), ('base_link','arm_left_4_link'), ('base_link','arm_left_5_link'), ('base_link','arm_left_6_link'), ('base_link','arm_left_7_link'), ('base_link','arm_left_tool_link'), ('base_link','wrist_left_ft_link'), ('base_link','wrist_left_ft_tool_link'), ('base_link','gripper_left_link'), ('base_link','gripper_left_right_finger_link'), ('base_link','gripper_left_left_finger_link'), ('base_link','arm_right_1_link'), ('base_link','arm_right_2_link'), ('base_link','arm_right_3_link'), ('base_link','arm_right_4_link'), ('base_link','arm_right_5_link'), ('base_link','arm_right_6_link'), ('base_link','arm_right_7_link'), ('base_link','arm_right_tool_link'), ('base_link','wrist_right_ft_link'), ('base_link','wrist_right_ft_tool_link'), ('base_link','hand_right_palm_link'), ('base_link','hand_right_thumb_link'), ('base_link','hand_right_index_link'), ('base_link','hand_right_mrl_link'), ('base_link','hand_right_thumb_abd_link'), ('base_link','hand_right_thumb_virtual_1_link'), ('base_link','hand_right_thumb_flex_1_link'), ('base_link','hand_right_thumb_virtual_2_link'), ('base_link','hand_right_thumb_flex_2_link'), ('base_link','hand_right_index_abd_link'), ('base_link','hand_right_index_virtual_1_link'), ('base_link','hand_right_index_flex_1_link'), ('base_link','hand_right_index_virtual_2_link'), ('base_link','hand_right_index_flex_2_link'), ('base_link','hand_right_index_virtual_3_link'), ('base_link','hand_right_index_flex_3_link'), ('base_link','hand_right_middle_abd_link'), ('base_link','hand_right_middle_virtual_1_link'), ('base_link','hand_right_middle_flex_1_link'), ('base_link','hand_right_middle_virtual_2_link'), ('base_link','hand_right_middle_flex_2_link'), ('base_link','hand_right_middle_virtual_3_link'), ('base_link','hand_right_middle_flex_3_link'), ('base_link','hand_right_ring_abd_link'), ('base_link','hand_right_ring_virtual_1_link'), ('base_link','hand_right_ring_flex_1_link'), ('base_link','hand_right_ring_virtual_2_link'), ('base_link','hand_right_ring_flex_2_link'), ('base_link','hand_right_ring_virtual_3_link'), ('base_link','hand_right_ring_flex_3_link'), ('base_link','hand_right_little_abd_link'), ('base_link','hand_right_little_virtual_1_link'), ('base_link','hand_right_little_flex_1_link'), ('base_link','hand_right_little_virtual_2_link'), ('base_link','hand_right_little_flex_2_link'), ('base_link','hand_right_little_virtual_3_link'), ('base_link','hand_right_little_flex_3_link'), ('base_link','torso_fixed_column_link '), ('base_antenna_left_link','base_link'), ('base_antenna_left_link','base_antenna_right_link'), ('base_antenna_left_link','wheel_right_link'), ('base_antenna_left_link','wheel_left_link'), ('base_antenna_left_link','ignore_caster_front_right_2_link'), ('base_antenna_left_link','ignore_caster_front_left_2_link'), ('base_antenna_left_link','ignore_caster_back_right_2_link'), ('base_antenna_left_link','ignore_caster_back_left_2_link'), ('base_antenna_left_link','torso_fixed_link'), ('base_antenna_left_link','torso_lift_link'), ('base_antenna_left_link','head_1_link'), ('base_antenna_left_link','head_2_link'), ('base_antenna_left_link','arm_left_1_link'), ('base_antenna_left_link','arm_left_2_link'), ('base_antenna_left_link','arm_left_3_link'), ('base_antenna_left_link','arm_left_4_link'), ('base_antenna_left_link','arm_left_5_link'), ('base_antenna_left_link','arm_left_6_link'), ('base_antenna_left_link','arm_left_7_link'), ('base_antenna_left_link','arm_left_tool_link'), ('base_antenna_left_link','wrist_left_ft_link'), ('base_antenna_left_link','wrist_left_ft_tool_link'), ('base_antenna_left_link','gripper_left_link'), ('base_antenna_left_link','gripper_left_right_finger_link'), ('base_antenna_left_link','gripper_left_left_finger_link'), ('base_antenna_left_link','arm_right_1_link'), ('base_antenna_left_link','arm_right_2_link'), ('base_antenna_left_link','arm_right_3_link'), ('base_antenna_left_link','arm_right_4_link'), ('base_antenna_left_link','arm_right_5_link'), ('base_antenna_left_link','arm_right_6_link'), ('base_antenna_left_link','arm_right_7_link'), ('base_antenna_left_link','arm_right_tool_link'), ('base_antenna_left_link','wrist_right_ft_link'), ('base_antenna_left_link','wrist_right_ft_tool_link'), ('base_antenna_left_link','hand_right_palm_link'), ('base_antenna_left_link','hand_right_thumb_link'), ('base_antenna_left_link','hand_right_index_link'), ('base_antenna_left_link','hand_right_mrl_link'), ('base_antenna_left_link','hand_right_thumb_abd_link'), ('base_antenna_left_link','hand_right_thumb_virtual_1_link'), ('base_antenna_left_link','hand_right_thumb_flex_1_link'), ('base_antenna_left_link','hand_right_thumb_virtual_2_link'), ('base_antenna_left_link','hand_right_thumb_flex_2_link'), ('base_antenna_left_link','hand_right_index_abd_link'), ('base_antenna_left_link','hand_right_index_virtual_1_link'), ('base_antenna_left_link','hand_right_index_flex_1_link'), ('base_antenna_left_link','hand_right_index_virtual_2_link'), ('base_antenna_left_link','hand_right_index_flex_2_link'), ('base_antenna_left_link','hand_right_index_virtual_3_link'), ('base_antenna_left_link','hand_right_index_flex_3_link'), ('base_antenna_left_link','hand_right_middle_abd_link'), ('base_antenna_left_link','hand_right_middle_virtual_1_link'), ('base_antenna_left_link','hand_right_middle_flex_1_link'), ('base_antenna_left_link','hand_right_middle_virtual_2_link'), ('base_antenna_left_link','hand_right_middle_flex_2_link'), ('base_antenna_left_link','hand_right_middle_virtual_3_link'), ('base_antenna_left_link','hand_right_middle_flex_3_link'), ('base_antenna_left_link','hand_right_ring_abd_link'), ('base_antenna_left_link','hand_right_ring_virtual_1_link'), ('base_antenna_left_link','hand_right_ring_flex_1_link'), ('base_antenna_left_link','hand_right_ring_virtual_2_link'), ('base_antenna_left_link','hand_right_ring_flex_2_link'), ('base_antenna_left_link','hand_right_ring_virtual_3_link'), ('base_antenna_left_link','hand_right_ring_flex_3_link'), ('base_antenna_left_link','hand_right_little_abd_link'), ('base_antenna_left_link','hand_right_little_virtual_1_link'), ('base_antenna_left_link','hand_right_little_flex_1_link'), ('base_antenna_left_link','hand_right_little_virtual_2_link'), ('base_antenna_left_link','hand_right_little_flex_2_link'), ('base_antenna_left_link','hand_right_little_virtual_3_link'), ('base_antenna_left_link','hand_right_little_flex_3_link'), ('base_antenna_left_link','torso_fixed_column_link '), ('base_antenna_right_link','base_link'), ('base_antenna_right_link','base_antenna_left_link'), ('base_antenna_right_link','wheel_right_link'), ('base_antenna_right_link','wheel_left_link'), ('base_antenna_right_link','ignore_caster_front_right_2_link'), ('base_antenna_right_link','ignore_caster_front_left_2_link'), ('base_antenna_right_link','ignore_caster_back_right_2_link'), ('base_antenna_right_link','ignore_caster_back_left_2_link'), ('base_antenna_right_link','torso_fixed_link'), ('base_antenna_right_link','torso_lift_link'), ('base_antenna_right_link','head_1_link'), ('base_antenna_right_link','head_2_link'), ('base_antenna_right_link','arm_left_1_link'), ('base_antenna_right_link','arm_left_2_link'), ('base_antenna_right_link','arm_left_3_link'), ('base_antenna_right_link','arm_left_4_link'), ('base_antenna_right_link','arm_left_5_link'), ('base_antenna_right_link','arm_left_6_link'), ('base_antenna_right_link','arm_left_7_link'), ('base_antenna_right_link','arm_left_tool_link'), ('base_antenna_right_link','wrist_left_ft_link'), ('base_antenna_right_link','wrist_left_ft_tool_link'), ('base_antenna_right_link','gripper_left_link'), ('base_antenna_right_link','gripper_left_right_finger_link'), ('base_antenna_right_link','gripper_left_left_finger_link'), ('base_antenna_right_link','arm_right_1_link'), ('base_antenna_right_link','arm_right_2_link'), ('base_antenna_right_link','arm_right_3_link'), ('base_antenna_right_link','arm_right_4_link'), ('base_antenna_right_link','arm_right_5_link'), ('base_antenna_right_link','arm_right_6_link'), ('base_antenna_right_link','arm_right_7_link'), ('base_antenna_right_link','arm_right_tool_link'), ('base_antenna_right_link','wrist_right_ft_link'), ('base_antenna_right_link','wrist_right_ft_tool_link'), ('base_antenna_right_link','hand_right_palm_link'), ('base_antenna_right_link','hand_right_thumb_link'), ('base_antenna_right_link','hand_right_index_link'), ('base_antenna_right_link','hand_right_mrl_link'), ('base_antenna_right_link','hand_right_thumb_abd_link'), ('base_antenna_right_link','hand_right_thumb_virtual_1_link'), ('base_antenna_right_link','hand_right_thumb_flex_1_link'), ('base_antenna_right_link','hand_right_thumb_virtual_2_link'), ('base_antenna_right_link','hand_right_thumb_flex_2_link'), ('base_antenna_right_link','hand_right_index_abd_link'), ('base_antenna_right_link','hand_right_index_virtual_1_link'), ('base_antenna_right_link','hand_right_index_flex_1_link'), ('base_antenna_right_link','hand_right_index_virtual_2_link'), ('base_antenna_right_link','hand_right_index_flex_2_link'), ('base_antenna_right_link','hand_right_index_virtual_3_link'), ('base_antenna_right_link','hand_right_index_flex_3_link'), ('base_antenna_right_link','hand_right_middle_abd_link'), ('base_antenna_right_link','hand_right_middle_virtual_1_link'), ('base_antenna_right_link','hand_right_middle_flex_1_link'), ('base_antenna_right_link','hand_right_middle_virtual_2_link'), ('base_antenna_right_link','hand_right_middle_flex_2_link'), ('base_antenna_right_link','hand_right_middle_virtual_3_link'), ('base_antenna_right_link','hand_right_middle_flex_3_link'), ('base_antenna_right_link','hand_right_ring_abd_link'), ('base_antenna_right_link','hand_right_ring_virtual_1_link'), ('base_antenna_right_link','hand_right_ring_flex_1_link'), ('base_antenna_right_link','hand_right_ring_virtual_2_link'), ('base_antenna_right_link','hand_right_ring_flex_2_link'), ('base_antenna_right_link','hand_right_ring_virtual_3_link'), ('base_antenna_right_link','hand_right_ring_flex_3_link'), ('base_antenna_right_link','hand_right_little_abd_link'), ('base_antenna_right_link','hand_right_little_virtual_1_link'), ('base_antenna_right_link','hand_right_little_flex_1_link'), ('base_antenna_right_link','hand_right_little_virtual_2_link'), ('base_antenna_right_link','hand_right_little_flex_2_link'), ('base_antenna_right_link','hand_right_little_virtual_3_link'), ('base_antenna_right_link','hand_right_little_flex_3_link'), ('base_antenna_right_link','torso_fixed_column_link '), ('wheel_right_link','base_link'), ('wheel_right_link','base_antenna_left_link'), ('wheel_right_link','base_antenna_right_link'), ('wheel_right_link','wheel_left_link'), ('wheel_right_link','ignore_caster_front_right_2_link'), ('wheel_right_link','ignore_caster_front_left_2_link'), ('wheel_right_link','ignore_caster_back_right_2_link'), ('wheel_right_link','ignore_caster_back_left_2_link'), ('wheel_right_link','torso_fixed_link'), ('wheel_right_link','torso_lift_link'), ('wheel_right_link','head_1_link'), ('wheel_right_link','head_2_link'), ('wheel_right_link','arm_left_1_link'), ('wheel_right_link','arm_left_2_link'), ('wheel_right_link','arm_left_3_link'), ('wheel_right_link','arm_left_4_link'), ('wheel_right_link','arm_left_5_link'), ('wheel_right_link','arm_left_6_link'), ('wheel_right_link','arm_left_7_link'), ('wheel_right_link','arm_left_tool_link'), ('wheel_right_link','wrist_left_ft_link'), ('wheel_right_link','wrist_left_ft_tool_link'), ('wheel_right_link','gripper_left_link'), ('wheel_right_link','gripper_left_right_finger_link'), ('wheel_right_link','gripper_left_left_finger_link'), ('wheel_right_link','arm_right_1_link'), ('wheel_right_link','arm_right_2_link'), ('wheel_right_link','arm_right_3_link'), ('wheel_right_link','arm_right_4_link'), ('wheel_right_link','arm_right_5_link'), ('wheel_right_link','arm_right_6_link'), ('wheel_right_link','arm_right_7_link'), ('wheel_right_link','arm_right_tool_link'), ('wheel_right_link','wrist_right_ft_link'), ('wheel_right_link','wrist_right_ft_tool_link'), ('wheel_right_link','hand_right_palm_link'), ('wheel_right_link','hand_right_thumb_link'), ('wheel_right_link','hand_right_index_link'), ('wheel_right_link','hand_right_mrl_link'), ('wheel_right_link','hand_right_thumb_abd_link'), ('wheel_right_link','hand_right_thumb_virtual_1_link'), ('wheel_right_link','hand_right_thumb_flex_1_link'), ('wheel_right_link','hand_right_thumb_virtual_2_link'), ('wheel_right_link','hand_right_thumb_flex_2_link'), ('wheel_right_link','hand_right_index_abd_link'), ('wheel_right_link','hand_right_index_virtual_1_link'), ('wheel_right_link','hand_right_index_flex_1_link'), ('wheel_right_link','hand_right_index_virtual_2_link'), ('wheel_right_link','hand_right_index_flex_2_link'), ('wheel_right_link','hand_right_index_virtual_3_link'), ('wheel_right_link','hand_right_index_flex_3_link'), ('wheel_right_link','hand_right_middle_abd_link'), ('wheel_right_link','hand_right_middle_virtual_1_link'), ('wheel_right_link','hand_right_middle_flex_1_link'), ('wheel_right_link','hand_right_middle_virtual_2_link'), ('wheel_right_link','hand_right_middle_flex_2_link'), ('wheel_right_link','hand_right_middle_virtual_3_link'), ('wheel_right_link','hand_right_middle_flex_3_link'), ('wheel_right_link','hand_right_ring_abd_link'), ('wheel_right_link','hand_right_ring_virtual_1_link'), ('wheel_right_link','hand_right_ring_flex_1_link'), ('wheel_right_link','hand_right_ring_virtual_2_link'), ('wheel_right_link','hand_right_ring_flex_2_link'), ('wheel_right_link','hand_right_ring_virtual_3_link'), ('wheel_right_link','hand_right_ring_flex_3_link'), ('wheel_right_link','hand_right_little_abd_link'), ('wheel_right_link','hand_right_little_virtual_1_link'), ('wheel_right_link','hand_right_little_flex_1_link'), ('wheel_right_link','hand_right_little_virtual_2_link'), ('wheel_right_link','hand_right_little_flex_2_link'), ('wheel_right_link','hand_right_little_virtual_3_link'), ('wheel_right_link','hand_right_little_flex_3_link'), ('wheel_right_link','torso_fixed_column_link '), ('wheel_left_link','base_link'), ('wheel_left_link','base_antenna_left_link'), ('wheel_left_link','base_antenna_right_link'), ('wheel_left_link','wheel_right_link'), ('wheel_left_link','ignore_caster_front_right_2_link'), ('wheel_left_link','ignore_caster_front_left_2_link'), ('wheel_left_link','ignore_caster_back_right_2_link'), ('wheel_left_link','ignore_caster_back_left_2_link'), ('wheel_left_link','torso_fixed_link'), ('wheel_left_link','torso_lift_link'), ('wheel_left_link','head_1_link'), ('wheel_left_link','head_2_link'), ('wheel_left_link','arm_left_1_link'), ('wheel_left_link','arm_left_2_link'), ('wheel_left_link','arm_left_3_link'), ('wheel_left_link','arm_left_4_link'), ('wheel_left_link','arm_left_5_link'), ('wheel_left_link','arm_left_6_link'), ('wheel_left_link','arm_left_7_link'), ('wheel_left_link','arm_left_tool_link'), ('wheel_left_link','wrist_left_ft_link'), ('wheel_left_link','wrist_left_ft_tool_link'), ('wheel_left_link','gripper_left_link'), ('wheel_left_link','gripper_left_right_finger_link'), ('wheel_left_link','gripper_left_left_finger_link'), ('wheel_left_link','arm_right_1_link'), ('wheel_left_link','arm_right_2_link'), ('wheel_left_link','arm_right_3_link'), ('wheel_left_link','arm_right_4_link'), ('wheel_left_link','arm_right_5_link'), ('wheel_left_link','arm_right_6_link'), ('wheel_left_link','arm_right_7_link'), ('wheel_left_link','arm_right_tool_link'), ('wheel_left_link','wrist_right_ft_link'), ('wheel_left_link','wrist_right_ft_tool_link'), ('wheel_left_link','hand_right_palm_link'), ('wheel_left_link','hand_right_thumb_link'), ('wheel_left_link','hand_right_index_link'), ('wheel_left_link','hand_right_mrl_link'), ('wheel_left_link','hand_right_thumb_abd_link'), ('wheel_left_link','hand_right_thumb_virtual_1_link'), ('wheel_left_link','hand_right_thumb_flex_1_link'), ('wheel_left_link','hand_right_thumb_virtual_2_link'), ('wheel_left_link','hand_right_thumb_flex_2_link'), ('wheel_left_link','hand_right_index_abd_link'), ('wheel_left_link','hand_right_index_virtual_1_link'), ('wheel_left_link','hand_right_index_flex_1_link'), ('wheel_left_link','hand_right_index_virtual_2_link'), ('wheel_left_link','hand_right_index_flex_2_link'), ('wheel_left_link','hand_right_index_virtual_3_link'), ('wheel_left_link','hand_right_index_flex_3_link'), ('wheel_left_link','hand_right_middle_abd_link'), ('wheel_left_link','hand_right_middle_virtual_1_link'), ('wheel_left_link','hand_right_middle_flex_1_link'), ('wheel_left_link','hand_right_middle_virtual_2_link'), ('wheel_left_link','hand_right_middle_flex_2_link'), ('wheel_left_link','hand_right_middle_virtual_3_link'), ('wheel_left_link','hand_right_middle_flex_3_link'), ('wheel_left_link','hand_right_ring_abd_link'), ('wheel_left_link','hand_right_ring_virtual_1_link'), ('wheel_left_link','hand_right_ring_flex_1_link'), ('wheel_left_link','hand_right_ring_virtual_2_link'), ('wheel_left_link','hand_right_ring_flex_2_link'), ('wheel_left_link','hand_right_ring_virtual_3_link'), ('wheel_left_link','hand_right_ring_flex_3_link'), ('wheel_left_link','hand_right_little_abd_link'), ('wheel_left_link','hand_right_little_virtual_1_link'), ('wheel_left_link','hand_right_little_flex_1_link'), ('wheel_left_link','hand_right_little_virtual_2_link'), ('wheel_left_link','hand_right_little_flex_2_link'), ('wheel_left_link','hand_right_little_virtual_3_link'), ('wheel_left_link','hand_right_little_flex_3_link'), ('wheel_left_link','torso_fixed_column_link '), ('ignore_caster_front_right_2_link','base_link'), ('ignore_caster_front_right_2_link','base_antenna_left_link'), ('ignore_caster_front_right_2_link','base_antenna_right_link'), ('ignore_caster_front_right_2_link','wheel_right_link'), ('ignore_caster_front_right_2_link','wheel_left_link'), ('ignore_caster_front_right_2_link','ignore_caster_front_left_2_link'), ('ignore_caster_front_right_2_link','ignore_caster_back_right_2_link'), ('ignore_caster_front_right_2_link','ignore_caster_back_left_2_link'), ('ignore_caster_front_right_2_link','torso_fixed_link'), ('ignore_caster_front_right_2_link','torso_lift_link'), ('ignore_caster_front_right_2_link','head_1_link'), ('ignore_caster_front_right_2_link','head_2_link'), ('ignore_caster_front_right_2_link','arm_left_1_link'), ('ignore_caster_front_right_2_link','arm_left_2_link'), ('ignore_caster_front_right_2_link','arm_left_3_link'), ('ignore_caster_front_right_2_link','arm_left_4_link'), ('ignore_caster_front_right_2_link','arm_left_5_link'), ('ignore_caster_front_right_2_link','arm_left_6_link'), ('ignore_caster_front_right_2_link','arm_left_7_link'), ('ignore_caster_front_right_2_link','arm_left_tool_link'), ('ignore_caster_front_right_2_link','wrist_left_ft_link'), ('ignore_caster_front_right_2_link','wrist_left_ft_tool_link'), ('ignore_caster_front_right_2_link','gripper_left_link'), ('ignore_caster_front_right_2_link','gripper_left_right_finger_link'), 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