11685611656
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Ran 05 Nov 2024 02:08PM UTC

Jobs 2

Files 55

Run time 1min

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Committed 05 Nov 2024 01:54PM UTC coverage: 51.053%. Remained the same

Build # 11685611656

Build Type

push

github

Committed by

web-flow

Commit Message

[SW-1507] gripperless URDF for Spot (#520)

## 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 https://github.com/bdaiinstitute/spot_ros2/pull/518

## Testing Done

 - [x] default URDF is unchanged
 - [x] ran updated spot description launchfile with `gripperless:=True`, model looks right

![image.png](https://graphite-user-uploaded-assets-prod.s3.amazonaws.com/Xynj6CBpA3NqqBFfE8Q9/4eb6af86-8305-4132-83e9-59a9fcc8cf16.png)




- [x] 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>

```

Run Details

1939 of 3798 relevant lines covered (51.05%)

25.16 hits per line

Jobs

ID	Job ID	Ran	Files	Coverage
1	unittests-cpp - 11685611656.1	05 Nov 2024 02:08PM UTC	0	70.26	GitHub Action Run
2	unittests-python - 11685611656.2	05 Nov 2024 02:08PM UTC	0	40.07	GitHub Action Run

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