Fix for stray meshes in WR1 link

spot_description/launch/description.launch.py

@@ -39,6 +39,12 @@ def generate_launch_description() -> launch.LaunchDescription:
                 choices=["True", "true", "False", "false"],
                 description="Flag to enable putting frames at the feet",
             ),
+            DeclareLaunchArgument(
+                name="gripperless",
+                default_value="False",
+                choices=["True", "true", "False", "false"],
+                description="Flag to remove the gripper from the arm model",
+            ),
             DeclareLaunchArgument(
                 "tf_prefix", default_value='""', description="Apply namespace prefix to robot links and joints"
             ),
@@ -56,6 +62,8 @@ def generate_launch_description() -> launch.LaunchDescription:
                                 LaunchConfiguration("arm"),
                                 " feet:=",
                                 LaunchConfiguration("feet"),
+                                " gripperless:=",
+                                LaunchConfiguration("gripperless"),
                                 " tf_prefix:=",
                                 LaunchConfiguration("tf_prefix"),
                             ]

spot_description/urdf/spot_arm_macro.urdf

@@ -201,44 +201,51 @@
         upper="1.83259571459404613236" />
     </joint>
 
-    <link name="${tf_prefix}arm_link_wr1">
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://spot_description/meshes/arm/visual/arm_link_wr1.obj" />
-        </geometry>
-        <material name="arm_link_wr1">
-          <color rgba="0.2 0.2 0.2 1" />
-        </material>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://spot_description/meshes/arm/collision/arm_link_wr1.obj" />
-        </geometry>
-      </collision>
-      <collision>
-        <geometry>
-          <mesh filename="package://spot_description/meshes/arm/collision/front_jaw.obj" />
-        </geometry>
-      </collision>
-      <collision>
-        <geometry>
-          <mesh filename="package://spot_description/meshes/arm/collision/middle_jaw.obj" />
-        </geometry>
-      </collision>
-      <collision>
-        <geometry>
-          <mesh filename="package://spot_description/meshes/arm/collision/jaw_tooth.obj" />
-        </geometry>
-      </collision>
-      <inertial>
-        <origin rpy="0.006393076449033863 0.2928526604761865 -0.022814984050994802"
-          xyz="0.12516802549362183 0.00010137435310753062 -0.013997982256114483" />
-        <mass value="0.785" />
-        <inertia ixx="0.00076741362048185" ixy="0.0" ixz="0.0" iyy="0.0017628124054271809" iyz="0.0"
-          izz="0.0016818105865345951" />
-      </inertial>
-    </link>
+    <xacro:if value="${gripperless}">
+      <!-- This link needs to still be defined as to not break WR1 joint but can't include the meshes below, as these
+      includes parts of the gripper. -->
+      <link name="${tf_prefix}arm_link_wr1" />
+    </xacro:if>
+    <xacro:unless value="${gripperless}">
+      <link name="${tf_prefix}arm_link_wr1">
+        <visual>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <mesh filename="package://spot_description/meshes/arm/visual/arm_link_wr1.obj" />
+          </geometry>
+          <material name="arm_link_wr1">
+            <color rgba="0.2 0.2 0.2 1" />
+          </material>
+        </visual>
+        <collision>
+          <geometry>
+            <mesh filename="package://spot_description/meshes/arm/collision/arm_link_wr1.obj" />
+          </geometry>
+        </collision>
+        <collision>
+          <geometry>
+            <mesh filename="package://spot_description/meshes/arm/collision/front_jaw.obj" />
+          </geometry>
+        </collision>
+        <collision>
+          <geometry>
+            <mesh filename="package://spot_description/meshes/arm/collision/middle_jaw.obj" />
+          </geometry>
+        </collision>
+        <collision>
+          <geometry>
+            <mesh filename="package://spot_description/meshes/arm/collision/jaw_tooth.obj" />
+          </geometry>
+        </collision>
+        <inertial>
+          <origin rpy="0.006393076449033863 0.2928526604761865 -0.022814984050994802"
+            xyz="0.12516802549362183 0.00010137435310753062 -0.013997982256114483" />
+          <mass value="0.785" />
+          <inertia ixx="0.00076741362048185" ixy="0.0" ixz="0.0" iyy="0.0017628124054271809" iyz="0.0"
+            izz="0.0016818105865345951" />
+        </inertial>
+      </link>
+    </xacro:unless>
     <joint name="${tf_prefix}arm_wr1" type="revolute">
       <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       <axis xyz="1 0 0" />