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