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Viewing changes to sr_hand/launch/load_hand_model.launch

  • Committer: Ugo Cupcic
  • Date: 2012-07-23 14:42:29 UTC
  • Revision ID: ugo@shadowrobot.com-20120723144229-i8bc0yl6803v22zi
unified srh_motor.launch and srh_muscle.launch in the same file -> renamed forearm_muscle and forearm_motor to forearm only

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sr_hand/launch/load_hand_model.launch
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<launch>
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  <group if="$(optenv ONE_FINGER 0)">
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    <param name="sh_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/sr_one_finger_motor.urdf.xacro'" />
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  </group>
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  <group unless="$(optenv ONE_FINGER 0)">
 
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  <group if="$(optenv MUSCLE 0)">
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    <group if="$(optenv LEFT_HAND 0)">
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      <param name="sh_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_left_motor.urdf.xacro'" />
 
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      <param name="sh_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_left_muscle.urdf.xacro'" />
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    </group>
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    <group unless="$(optenv LEFT_HAND 0)">
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      <group if="$(optenv THREE_FINGER 0)">
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        <param name="sh_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/sr_three_finger_motor.urdf.xacro'" />
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      </group>
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      <group unless="$(optenv THREE_FINGER 0)">
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        <param name="sh_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_motor.urdf.xacro'" />
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      </group>
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    </group>
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  </group>
 
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      <param name="sh_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_muscle.urdf.xacro'" />
 
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    </group>
 
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  </group>
 
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  <group unless="$(optenv MUSCLE 0)">
 
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    <group if="$(optenv ONE_FINGER 0)">
 
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      <param name="sh_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/sr_one_finger_motor.urdf.xacro'" />
 
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    </group>
 
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    <group unless="$(optenv ONE_FINGER 0)">
 
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      <group if="$(optenv LEFT_HAND 0)">
 
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        <param name="sh_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_left_motor.urdf.xacro'" />
 
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      </group>
 
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      <group unless="$(optenv LEFT_HAND 0)">
 
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        <group if="$(optenv THREE_FINGER 0)">
 
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          <param name="sh_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/sr_three_finger_motor.urdf.xacro'" />
 
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        </group>
 
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        <group unless="$(optenv THREE_FINGER 0)">
 
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          <param name="sh_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/shadowhand_motor.urdf.xacro'" />
 
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        </group>
 
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      </group>
 
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    </group>
 
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  </group>
 
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</launch>