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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<include filename="$(find sr_hand)/model/hand_urdf/thumb/thbase.urdf.xacro" />
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<include filename="$(find sr_hand)/model/hand_urdf/thumb/thproximal.urdf.xacro" />
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<include filename="$(find sr_hand)/model/hand_urdf/thumb/thhub.urdf.xacro" />
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<include filename="$(find sr_hand)/model/hand_urdf/thumb/thmiddle.urdf.xacro" />
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<include filename="$(find sr_hand)/model/hand_urdf/thumb/thdistal_biotac.urdf.xacro" />
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<xacro:macro name="thumb" params="parent">
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<xacro:thbase parent="${parent}">
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<xacro:thproximal parent="thbase">
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<xacro:thumb_common />
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<xacro:macro name="thumb_left" params="parent">
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<xacro:thbase_left parent="${parent}">
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<xacro:thproximal_left parent="thbase">
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</xacro:thproximal_left>
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<xacro:thumb_common />
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<!-- Macro for common parts in left and right handed versions.
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DO NOT use out side of here ie treat as a private macro -->
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<xacro:macro name="thumb_common">
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<xacro:thhub parent="thproximal">
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<xacro:thmiddle parent="thhub">
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<xacro:thdistal parent="thmiddle">