Deprecate specific hand.urdf.xacro files

sr_description/hand/xacro/ff_biotac_hand.urdf.xacro

@@ -7,6 +7,8 @@
   <!-- reflect is either 1 (for right hand) or -1 (for left hand) -->
   <!-- prefix can be anything but usually is "r_" or  "l_" for right and left hands distinction -->
   <xacro:macro name="shadowhand" params="muscletrans muscle bio bt_sp eli reflect prefix">
+    ${xacro.warning("The file ff_biotac_hand.urdf.xacro is deprecated", print_location=False)}
+    ${xacro.warning("Use full_hand.urdf.xacro instead with tip_sensors=dict(ff='bio')")}
     <!-- Ensure tip_sensors is defined before usage below -->
     <xacro:property name="tip_sensors" default="${5 * ['std']}" />
     <!-- translate old parameters to new ones, eventually updating tip_sensors -->

sr_description/hand/xacro/hand_E_no_mf_rf.urdf.xacro

@@ -8,6 +8,8 @@
   <!-- prefix can be anything but usually is "r_" or  "l_" for right and left hands distinction -->
   <!-- lf is true if we want a little finger, false otherwise -->
   <xacro:macro name="shadowhand" params="muscletrans muscle bio bt_sp eli reflect prefix lf">
+    ${xacro.warning("The file hand_E_no_mf_rf.urdf.xacro is deprecated", print_location=False)}
+    ${xacro.warning("Use full_hand.urdf.xacro instead with fingers='th ff lf'")}
     <!-- forward to generic macro -->
     <xacro:include filename="$(find sr_description)/hand/xacro/full_hand.urdf.xacro" />
     <xacro:shadowhand fingers="${[1, 1, 0, 0, 1 if lf else 0]}" reflect="${reflect}" prefix="${prefix}" />

sr_description/hand/xacro/th_ff_rf_ellipsoid_hand.urdf.xacro

@@ -7,6 +7,8 @@
   <!-- reflect is either 1 (for right hand) or -1 (for left hand) -->
   <!-- prefix can be anything but usually is "r_" or  "l_" for right and left hands distinction -->
   <xacro:macro name="shadowhand" params="muscletrans muscle bio bt_sp eli reflect prefix">
+    ${xacro.warning("The file th_ff_rf_ellipsoid_hand.urdf.xacro is deprecated", print_location=False)}
+    ${xacro.warning("Use full_hand.urdf.xacro instead with tip_sensors=dict([(f, 'eli') for f in 'th ff rf'.split()])")}
     <!-- Ensure tip_sensors is defined before usage below -->
     <xacro:property name="tip_sensors" default="${5 * ['std']}" />
     <!-- translate old parameters to new ones, eventually updating tip_sensors -->

sr_description/hand/xacro/three_biotac_fingers_hand.urdf.xacro

@@ -7,6 +7,8 @@
   <!-- reflect is either 1 (for right hand) or -1 (for left hand) -->
   <!-- prefix can be anything but usually is "r_" or  "l_" for right and left hands distinction -->
   <xacro:macro name="shadowhand" params="muscletrans muscle bio bt_sp eli reflect prefix">
+    ${xacro.warning("The file three_biotac_fingers_hand.urdf.xacro is deprecated", print_location=False)}
+    ${xacro.warning("Use full_hand.urdf.xacro instead with tip_sensors=dict([(f, 'bio') for f in 'th ff mf'.split()])")}
     <!-- forward to generic macro -->
     <xacro:include filename="$(find sr_description)/hand/xacro/full_hand.urdf.xacro" />
     <!-- BioTacs on First and Middle Finger as well as Thumb -->

sr_description/hand/xacro/three_fingers_hand.urdf.xacro

@@ -7,6 +7,8 @@
   <!-- reflect is either 1 (for right hand) or -1 (for left hand) -->
   <!-- prefix can be anything but usually is "r_" or  "l_" for right and left hands distinction -->
   <xacro:macro name="shadowhand" params="muscletrans muscle bio bt_sp eli reflect prefix">
+    ${xacro.warning("The file three_fingers_hand.urdf.xacro is deprecated", print_location=False)}
+    ${xacro.warning("Use full_hand.urdf.xacro instead with fingers='th ff mf'")}
     <!-- forward to generic macro -->
     <xacro:include filename="$(find sr_description)/hand/xacro/full_hand.urdf.xacro" />
     <xacro:shadowhand fingers="${[1,1,1,0,0]}" reflect="${reflect}" prefix="${prefix}" />

sr_description/hand/xacro/three_fingers_hand_RF.urdf.xacro

@@ -7,6 +7,8 @@
   <!-- reflect is either 1 (for right hand) or -1 (for left hand) -->
   <!-- prefix can be anything but usually is "r_" or  "l_" for right and left hands distinction -->
   <xacro:macro name="shadowhand" params="muscletrans muscle bio bt_sp eli reflect prefix">
+    ${xacro.warning("The file three_fingers_hand_RF.urdf.xacro is deprecated", print_location=False)}
+    ${xacro.warning("Use full_hand.urdf.xacro instead with fingers='th ff rf'")}
     <!-- forward to generic macro -->
     <xacro:include filename="$(find sr_description)/hand/xacro/full_hand.urdf.xacro" />
     <xacro:shadowhand fingers="${[1, 1, 0, 1, 0]}" reflect="${reflect}" prefix="${prefix}" />