Baseline gripperless parameter

bdaiinstitute · Oct 29, 2024 · d2859b0 · d2859b0
1 parent e3992eb
commit d2859b0
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Showing 3 changed files with 65 additions and 60 deletions.
diff --git a/spot_description/urdf/spot.urdf.xacro b/spot_description/urdf/spot.urdf.xacro
@@ -8,6 +8,7 @@
 
   <!-- General parameters -->
   <xacro:arg name="arm" default="false" />
+  <xacro:arg name="gripperless" default="false" />
   <xacro:arg name="feet" default="false" />
   <xacro:arg name="tf_prefix" default="" />
 
@@ -23,6 +24,7 @@
   <!-- Load Spot -->
   <xacro:load_spot
     arm="$(arg arm)"
+    gripperless="$(arg gripperless)"
     feet="$(arg feet)"
     tf_prefix="$(arg tf_prefix)" />
 

diff --git a/spot_description/urdf/spot_arm_macro.urdf b/spot_description/urdf/spot_arm_macro.urdf
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot name="spot_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:macro name="load_arm" params="
-    tf_prefix">
+    tf_prefix gripperless">
 
     <link name="${tf_prefix}arm_link_sh0">
       <visual>
@@ -217,9 +217,9 @@
         </geometry>
       </collision>
       <collision>
-      <geometry>
-        <mesh filename="package://spot_description/meshes/arm/collision/front_jaw.obj" />
-      </geometry>
+        <geometry>
+          <mesh filename="package://spot_description/meshes/arm/collision/front_jaw.obj" />
+        </geometry>
       </collision>
       <collision>
         <geometry>
@@ -248,60 +248,62 @@
         upper="2.87979326579064354163" />
     </joint>
 
-    <link name="${tf_prefix}arm_link_fngr">
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://spot_description/meshes/arm/visual/arm_link_fngr.obj" />
-        </geometry>
-        <material name="arm_link_fngr">
-          <color rgba="0.2 0.2 0.2 1" />
-        </material>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://spot_description/meshes/arm/collision/left_hinge.obj" />
-        </geometry>
-      </collision>
-      <collision>
-        <geometry>
-          <mesh filename="package://spot_description/meshes/arm/collision/left_finger.obj" />
-        </geometry>
-      </collision>
-      <collision>
-        <geometry>
-          <mesh filename="package://spot_description/meshes/arm/collision/left_tooth.obj" />
-        </geometry>
-      </collision>
-      <collision>
-        <geometry>
-          <mesh filename="package://spot_description/meshes/arm/collision/right_hinge.obj" />
-        </geometry>
-      </collision>
-      <collision>
-        <geometry>
-          <mesh filename="package://spot_description/meshes/arm/collision/right_finger.obj" />
-        </geometry>
-      </collision>
-      <collision>
-        <geometry>
-          <mesh filename="package://spot_description/meshes/arm/collision/right_tooth.obj" />
-        </geometry>
-      </collision>
-      <inertial>
-        <origin rpy="0.0003416659657240473 0.3751670012784243 -0.004058661249495721"
-          xyz="0.04787873849272728 -0.00020676758140325546 -0.01628788933157921" />
-        <mass value="0.2" />
-        <inertia ixx="0.0001439963634171048" ixy="0.0" ixz="0.0" iyy="0.0003007126997998294"
-          iyz="0.0" izz="0.0003912783268020657" />
-      </inertial>
-    </link>
-    <joint name="${tf_prefix}arm_f1x" type="revolute">
-      <origin xyz="0.11745 0 0.014820" rpy="0 0 0" />
-      <axis xyz="0.0 1.0 0.0" />
-      <parent link="${tf_prefix}arm_link_wr1" />
-      <child link="${tf_prefix}arm_link_fngr" />
-      <limit effort="15.32" velocity="10.0" lower="-1.57" upper="0.0" />
-    </joint>
+    <xacro:unless value="${gripperless}">
+      <link name="${tf_prefix}arm_link_fngr">
+        <visual>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <mesh filename="package://spot_description/meshes/arm/visual/arm_link_fngr.obj" />
+          </geometry>
+          <material name="arm_link_fngr">
+            <color rgba="0.2 0.2 0.2 1" />
+          </material>
+        </visual>
+        <collision>
+          <geometry>
+            <mesh filename="package://spot_description/meshes/arm/collision/left_hinge.obj" />
+          </geometry>
+        </collision>
+        <collision>
+          <geometry>
+            <mesh filename="package://spot_description/meshes/arm/collision/left_finger.obj" />
+          </geometry>
+        </collision>
+        <collision>
+          <geometry>
+            <mesh filename="package://spot_description/meshes/arm/collision/left_tooth.obj" />
+          </geometry>
+        </collision>
+        <collision>
+          <geometry>
+            <mesh filename="package://spot_description/meshes/arm/collision/right_hinge.obj" />
+          </geometry>
+        </collision>
+        <collision>
+          <geometry>
+            <mesh filename="package://spot_description/meshes/arm/collision/right_finger.obj" />
+          </geometry>
+        </collision>
+        <collision>
+          <geometry>
+            <mesh filename="package://spot_description/meshes/arm/collision/right_tooth.obj" />
+          </geometry>
+        </collision>
+        <inertial>
+          <origin rpy="0.0003416659657240473 0.3751670012784243 -0.004058661249495721"
+            xyz="0.04787873849272728 -0.00020676758140325546 -0.01628788933157921" />
+          <mass value="0.2" />
+          <inertia ixx="0.0001439963634171048" ixy="0.0" ixz="0.0" iyy="0.0003007126997998294"
+            iyz="0.0" izz="0.0003912783268020657" />
+        </inertial>
+      </link>
+      <joint name="${tf_prefix}arm_f1x" type="revolute">
+        <origin xyz="0.11745 0 0.014820" rpy="0 0 0" />
+        <axis xyz="0.0 1.0 0.0" />
+        <parent link="${tf_prefix}arm_link_wr1" />
+        <child link="${tf_prefix}arm_link_fngr" />
+        <limit effort="15.32" velocity="10.0" lower="-1.57" upper="0.0" />
+      </joint>
+    </xacro:unless>
   </xacro:macro>
 </robot>
diff --git a/spot_description/urdf/spot_macro.xacro b/spot_description/urdf/spot_macro.xacro
@@ -4,6 +4,7 @@
     <xacro:macro name="load_spot" params="
     arm:=false
     feet:=false
+    gripperless:=false
     tf_prefix">
 
         <link name="${tf_prefix}body">
@@ -417,7 +418,7 @@
         <!-- Include Arm if necessary-->
         <xacro:if value="${arm}">
             <xacro:include filename="$(find spot_description)/urdf/spot_arm_macro.urdf" />
-            <xacro:load_arm tf_prefix="${tf_prefix}" />
+            <xacro:load_arm tf_prefix="${tf_prefix}" gripperless="${gripperless}" />
         </xacro:if>
 
         <!-- Include links at feet if necessary -->