#!/bin/bash
 
echo "Generate Robot Model Configurations:"
# Robot configurations:
#echo "[I]Robot, [N]one, [S]andia, [H]ook, [P]ointer, [R]obotiq"

echo "none/stumps"
rosrun xacro xacro.py xacro/atlas_LN_RN.urdf.xacro > model_LN_RN.urdf

echo "bdi hooks"
rosrun xacro xacro.py xacro/atlas_LH_RH.urdf.xacro > model_LH_RH.urdf

echo "pointers"
rosrun xacro xacro.py xacro/atlas_LP_RP.urdf.xacro > model_LP_RP.urdf

echo "IRobot"
rosrun xacro xacro.py xacro/atlas_LI_RI.urdf.xacro > model_LI_RI.urdf

echo "Robotiq"
rosrun xacro xacro.py xacro/atlas_LR_RR.urdf.xacro > model_LR_RR.urdf

echo "Robotiq / pointer"
rosrun xacro xacro.py xacro/atlas_LP_RR.urdf.xacro > model_LP_RR.urdf
rosrun xacro xacro.py xacro/atlas_LR_RP.urdf.xacro > model_LR_RP.urdf


 
# the simulated robot configuration - LCM facing and ROS/gazbo facing versions
#echo "17/18 sim - MIT Facing [VRC]"
#rosrun xacro xacro.py xacro/atlas_sandia_hands_sim.urdf.xacro > model_sim.urdf
#echo "18/18 sim - Gazebo Facing"
#./renameSimGazeboURDF.sh
#echo "19/18 sim - MIT Facing [2014]"
#rosrun xacro xacro.py xacro/atlas_LR_RR_sim_v1_inertia.urdf.xacro > model_LR_RR_sim_v1_inertia.urdf

