| <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="allegro_hand_right"> | |
| <!-- Import XELA Data --> | |
| <xacro:include filename="$(find xela_models)/urdf/xela.xacro" /> | |
| <link name="world" /> | |
| <!-- Notes | |
| Back controller covers can be disabled by setting covers to 0 | |
| tips can be either "flat" or "curved", default is original tip | |
| Palm sensors can be disabled by setting palm to 0 | |
| --> | |
| <xacro:allegro_hand_right sequence="" tips="curved" parent="world" defaultnames="1" baseispalm="1" /> | |
| <!-- Enable the following 2 if you would like to see different options the same time --> | |
| <!-- <xacro:allegro_hand_right sequence="2" parent="world" x="0.2" tips="curved" /> --> | |
| <!-- <xacro:allegro_hand_right sequence="3" parent="world" x="-0.2" covers="0" palm="0" phalanges="0" tips="default"/> --> | |
| </robot> | |