You can load the arm and hand separately, as in separate URDFs and controller_managers. To rigidly couple the hand to the arm using roslaunch, you can spawn a static tf publisher that broadcasts the transform between lwr_7_link and ahand_base_link.
You can load the arm and hand separately, as in separate URDFs and controller_managers. To rigidly couple the hand to the arm using roslaunch, you can spawn a static tf publisher that broadcasts the transform between lwr_7_link and ahand_base_link.