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Ran 09 Aug 2024 02:17PM UTC

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Committed 09 Aug 2024 02:04PM UTC coverage: 42.308%. Remained the same

Job # 10320587226.2

Build Type

push

github

Committed by

web-flow

Commit Message

[SW-1266] Add option in spot urdf to put links at the feet (#447)

## Change Overview

This now lets you generate a URDF of spot that puts links at the feet locations. It is possible to visualize this with `ros2 launch spot_description description.launch.py feet:=true`. 

The default URDF that gets generated for running the driver does not include these new frames.

## Testing Done

- [x] visualizing the new URDF containing feet frames has them in the right location
- [x] default URDF is unchanged

![Screenshot from 2024-08-08 14-55-57.png](https://graphite-user-uploaded-assets-prod.s3.amazonaws.com/Xynj6CBpA3NqqBFfE8Q9/fa798b1a-6ad6-4076-ac86-8554ff4a2ae4.png)

Run Details

946 of 2236 relevant lines covered (42.31%)

0.42 hits per line

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