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[SW-1507] gripperless URDF for Spot #520

Merged
merged 5 commits into from
Nov 5, 2024
Merged

[SW-1507] gripperless URDF for Spot #520

merged 5 commits into from
Nov 5, 2024

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khughes-bdai
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@khughes-bdai khughes-bdai commented Oct 30, 2024 •
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Change Overview

Adds support for the gripperless parameter at the URDF level, with the option to connect a new child link to joint arm_wr1 (which would be the case when using a custom gripper)

related to #518

Testing Done

  • default URDF is unchanged
  • ran updated spot description launchfile with gripperless:=True, model looks right

image.png

  • tested a new xacro skeleton using the custom_gripper_base_link arg. This same structure could be used to specify the base link of a custom gripper and then connect the spot model to the gripper model.
<?xml version="1.0" ?>
<robot name="gripperless_test" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:include filename="$(find spot_description)/urdf/spot_macro.xacro" />

  <xacro:load_spot
    arm="true"
    gripperless="true"
    tf_prefix=""
    custom_gripper_base_link="gripper_base_link"/>

  <!-- custom gripper could be loaded after this, here we just have a stand in link as proof of concept -->
  <link name="gripper_base_link" />

</robot>

@khughes-bdai khughes-bdai marked this pull request as draft October 30, 2024 19:51
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meant to open this as a draft, it's not ready

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coveralls commented Oct 30, 2024 •
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Pull Request Test Coverage Report for Build 11685361044

Details

  • 0 of 0 changed or added relevant lines in 0 files are covered.
  • No unchanged relevant lines lost coverage.
  • Overall coverage remained the same at 51.053%
Totals Coverage Status
Change from base Build 11633850631: 0.0%
Covered Lines: 1939
Relevant Lines: 3798
💛 - Coveralls

@khughes-bdai khughes-bdai marked this pull request as ready for review October 31, 2024 14:57
@khughes-bdai khughes-bdai changed the title [SW-1507] gripperless URDF [SW-1507] gripperless URDF for Spot Nov 1, 2024
tcappellari-bdai
tcappellari-bdai approved these changes Nov 4, 2024
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lgtm

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khughes-bdai commented Nov 5, 2024 •
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Merge activity

  • Nov 5, 8:39 AM EST: A user started a stack merge that includes this pull request via Graphite.
  • Nov 5, 8:39 AM EST: Graphite rebased this pull request as part of a merge.
  • Nov 5, 8:54 AM EST: A user merged this pull request with Graphite.

@khughes-bdai khughes-bdai force-pushed the khughes/gripperless_urdf branch from 0dff68d to 3018d2f Compare November 5, 2024 13:39
@khughes-bdai khughes-bdai merged commit f0da5d3 into main Nov 5, 2024
4 checks passed
@khughes-bdai khughes-bdai deleted the khughes/gripperless_urdf branch November 5, 2024 13:54
AngelRodriguez8008 added a commit to AngelRodriguez8008/spot_ros2 that referenced this pull request Dec 27, 2024
@AngelRodriguez8008
Merge branch 'main' into dev/angels_changes
50916a5 
* main:
  [SW-1106] using custom launch actions from synchros2 (bdaiinstitute#537)
  [SW-1764] allow use of preferred_odom_frame parameter (bdaiinstitute#538)
  [dependabot] Bump ros_utilities from `5aa699a` to `539c962` (bdaiinstitute#535)
  [SW-1658] Allow body frame to be root of TF tree (bdaiinstitute#536)
  [N/a] fix for launching the driver without the gripper (bdaiinstitute#534)
  [MAPLE-681] Add robot_description_package as parameter to driver launch (bdaiinstitute#531)
  [dependabot] Bump ros_utilities from `e4d5c80` to `5aa699a` (bdaiinstitute#530)
  [dependabot] Bump ros_utilities from `02ca14e` to `e4d5c80` (bdaiinstitute#525)
  [dependabot] Bump ros_utilities from `5258a5a` to `02ca14e` (bdaiinstitute#524)
  [dependabot] Bump spot_wrapper from `76e522b` to `c78ebfb` (bdaiinstitute#523)
  [dependabot] Bump ros_utilities from `23a79c9` to `5258a5a` (bdaiinstitute#522)
  [N/A] bugfix: give new xacro arguments default values (bdaiinstitute#521)
  [SW-1507] gripperless URDF for Spot (bdaiinstitute#520)
  [SW-1539] don't publish images from hand camera if gripperless param set (bdaiinstitute#518)
  [SW-1466] ability to take joint gains in through a parameter file (bdaiinstitute#516)

# Conflicts:
#	spot_driver/spot_driver/spot_ros2.py
AngelRodriguez8008 added a commit to AngelRodriguez8008/spot_ros2 that referenced this pull request Dec 27, 2024
@AngelRodriguez8008
Merge branch 'main' into dev/angels_changes
f5ef541 
* main:
  [SW-1106] using custom launch actions from synchros2 (bdaiinstitute#537)
  [SW-1764] allow use of preferred_odom_frame parameter (bdaiinstitute#538)
  [dependabot] Bump ros_utilities from `5aa699a` to `539c962` (bdaiinstitute#535)
  [SW-1658] Allow body frame to be root of TF tree (bdaiinstitute#536)
  [N/a] fix for launching the driver without the gripper (bdaiinstitute#534)
  [MAPLE-681] Add robot_description_package as parameter to driver launch (bdaiinstitute#531)
  [dependabot] Bump ros_utilities from `e4d5c80` to `5aa699a` (bdaiinstitute#530)
  [dependabot] Bump ros_utilities from `02ca14e` to `e4d5c80` (bdaiinstitute#525)
  [dependabot] Bump ros_utilities from `5258a5a` to `02ca14e` (bdaiinstitute#524)
  [dependabot] Bump spot_wrapper from `76e522b` to `c78ebfb` (bdaiinstitute#523)
  [dependabot] Bump ros_utilities from `23a79c9` to `5258a5a` (bdaiinstitute#522)
  [N/A] bugfix: give new xacro arguments default values (bdaiinstitute#521)
  [SW-1507] gripperless URDF for Spot (bdaiinstitute#520)
  [SW-1539] don't publish images from hand camera if gripperless param set (bdaiinstitute#518)
  [SW-1466] ability to take joint gains in through a parameter file (bdaiinstitute#516)

# Conflicts:
#	spot_driver/spot_driver/spot_ros2.py
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@tcappellari-bdai tcappellari-bdai tcappellari-bdai approved these changes

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@khughes-bdai @coveralls @davidwatkins-bdai @tcappellari-bdai