runtime/rasmt_support/urdf/tools/rasmt_hand_gazebo.xacro

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="rasmt_hand_gazebo" params="prefix">
<!-- ros_control-plugin -->
<gazebo>
<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
<!--robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type-->
<parameters>$(find rasmt_support)/config/rasmt_hand_controllers.yaml</parameters>
<robotNamespace>/${prefix}</robotNamespace>
</plugin>
</gazebo>
<!-- link 0 -->
<gazebo reference="${prefix}_Grip_Body">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<!-- link 1 -->
<gazebo reference="${prefix}_Grip_L">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<!-- link 2 -->
<gazebo reference="${prefix}_Grip_R">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<turnGravityOff>true</turnGravityOff>
</gazebo>
</xacro:macro>
</robot>