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

 - [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>

```
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@khughes-bdai
khughes-bdai authored Nov 5, 2024
1 parent feea7b6 commit f0da5d3
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Showing 4 changed files with 143 additions and 98 deletions.
8 changes: 8 additions & 0 deletions spot_description/launch/description.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
),
Expand All @@ -56,6 +62,8 @@ def generate_launch_description() -> launch.LaunchDescription:
LaunchConfiguration("arm"),
" feet:=",
LaunchConfiguration("feet"),
" gripperless:=",
LaunchConfiguration("gripperless"),
" tf_prefix:=",
LaunchConfiguration("tf_prefix"),
]
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14 changes: 12 additions & 2 deletions spot_description/urdf/spot.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,18 @@
<xacro:include filename="$(find spot_description)/urdf/spot.ros2_control.xacro" />

<!-- General parameters -->

<!-- String that will be prepended to all joints and links-->
<xacro:arg name="tf_prefix" default="" />

<!-- Set to true if Spot has an arm -->
<xacro:arg name="arm" default="false" />

<!-- Set to true if Spot has an arm but not a gripper -->
<xacro:arg name="gripperless" default="false" />

<!-- Set to true to put links at the feet of Spot -->
<xacro:arg name="feet" default="false" />
<xacro:arg name="tf_prefix" default="" />

<!-- Parameters for ROS 2 control -->
<xacro:arg name="add_ros2_control_tag" default="false" />
Expand All @@ -24,7 +33,8 @@
<xacro:load_spot
arm="$(arg arm)"
feet="$(arg feet)"
tf_prefix="$(arg tf_prefix)" />
tf_prefix="$(arg tf_prefix)"
gripperless="$(arg gripperless)"/>

<!-- Adding the ROS 2 control tags -->
<xacro:if value="$(arg add_ros2_control_tag)">
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213 changes: 118 additions & 95 deletions spot_description/urdf/spot_arm_macro.urdf
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Original file line number Diff line number Diff line change
@@ -1,7 +1,10 @@
<?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 custom_gripper_base_link">

<!-- Useful boolean variable for determining if custom gripper base link should be used in the xacro -->
<xacro:property name="use_custom_gripper_base_link" value="${gripperless and custom_gripper_base_link!=''}"/>

<link name="${tf_prefix}arm_link_sh0">
<visual>
Expand Down Expand Up @@ -201,107 +204,127 @@
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}">
<xacro:unless value="${use_custom_gripper_base_link}">
<!-- Here this link needs to still be defined as to not break WR1 joint but can't include the meshes below, as
these include parts of the gripper. Otherwise custom gripper base link will be used as the child of WR1 -->
<link name="${tf_prefix}arm_link_wr1" />
</xacro:unless>
</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="${tf_prefix}arm_wr1" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<axis xyz="1 0 0" />
<parent link="${tf_prefix}arm_link_wr0" />
<child link="${tf_prefix}arm_link_wr1" />
<!-- Child link can be different depending on gripperless status: -->
<xacro:if value="${use_custom_gripper_base_link}">
<!-- can optionally be the custom link specified via arg -->
<child link="${custom_gripper_base_link}" />
</xacro:if>
<xacro:unless value="${use_custom_gripper_base_link}">
<!-- else defaults to normal arm_link_wr1 -->
<child link="${tf_prefix}arm_link_wr1" />
</xacro:unless>
<limit effort="30.3" velocity="10.0" lower="-2.87979326579064354163"
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>
<!-- Finger joint and link shouldn't be included if gripperless -->
<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>
6 changes: 5 additions & 1 deletion spot_description/urdf/spot_macro.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,8 @@
<xacro:macro name="load_spot" params="
arm:=false
feet:=false
gripperless:=false
custom_gripper_base_link:=''
tf_prefix">

<link name="${tf_prefix}body">
Expand Down Expand Up @@ -417,7 +419,9 @@
<!-- Include Arm if necessary-->
<xacro:if value="${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}"
custom_gripper_base_link="${custom_gripper_base_link}" />
</xacro:if>

<!-- Include links at feet if necessary -->
Expand Down

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