[WUD-538] Add spot_arm URDF file

[tcappellari-bdai]

Change Overview

a URDF (instead of SRDF or xacro) file is needed to compute the arm jacobian for ticket WUD-538. This PR adds it to spot_description.

Testing Done

N/A

Please create a checklist of tests you plan to do and check off the ones that have been completed successfully. Ensure that ROS 2 tests use domain_coordinator to prevent port conflicts. Further guidance for testing can be found on the ros utilities wiki.

[khughes-bdai]

possibly stupid question but shouldn't you be able to use https://github.com/bdaiinstitute/spot_ros2/blob/main/spot_description/urdf/standalone_arm.urdf.xacro? That's what teleop uses for its arm related pinnochio stuff

[tcappellari-bdai]

possibly stupid question but shouldn't you be able to use https://github.com/bdaiinstitute/spot_ros2/blob/main/spot_description/urdf/standalone_arm.urdf.xacro? That's what teleop uses for its arm related pinnochio stuff

Is there a way to convert it into an acceptable file for pinocchio? It kept saying it wasn't in proper URDF format and I couldn't figure out how to get it to play nice

[khughes-bdai]

it should be possible, I'll try to find the code from teleop and message you!

[amessing-bdai]

Blocking this until we get an answer about can we use the existing urdf or modify it. Having two of these will be confusing.

[tcappellari-bdai]

ya nevermind i was being dumb lol. figured it out