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<launch>
<!-- spawn the arm model -->
<group if="$(optenv MUSCLE 0)">
<param name="robot_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_hand_muscle.urdf.xacro'" />
</group>
<group unless="$(optenv MUSCLE 0)">
<group if="$(optenv ONE_FINGER 0)">
<param name="robot_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_sr_one_finger_motor.urdf.xacro'" />
</group>
<group unless="$(optenv ONE_FINGER 0)">
<group if="$(optenv THREE_FINGER 0)">
<param name="robot_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_hand_motor_three_finger.urdf.xacro'" />
</group>
<group unless="$(optenv THREE_FINGER 0)">
<group if="$(optenv ELLIPSOID 0)">
<param name="robot_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_hand_motor_ellipsoid.urdf.xacro'" />
</group>
<group unless="$(optenv ELLIPSOID 0)">
<param name="robot_description" command="$(find xacro)/xacro.py '$(find sr_description)/robots/arm_and_hand_motor.urdf.xacro'" />
</group>
</group>
</group>
</group>
</launch>
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