heuristicus · EceChaik · Sep 21, 2023 · Sep 28, 2023 · Sep 28, 2023 · Oct 18, 2023
diff --git a/spot_description/meshes/arm/collision/arm_link_el0.stl b/spot_description/meshes/arm/collision/arm_link_el0.stl
diff --git a/spot_description/meshes/arm/collision/arm_link_el1.stl b/spot_description/meshes/arm/collision/arm_link_el1.stl
diff --git a/spot_description/meshes/arm/collision/arm_link_fngr.stl b/spot_description/meshes/arm/collision/arm_link_fngr.stl
diff --git a/spot_description/meshes/arm/collision/arm_link_hr0.stl b/spot_description/meshes/arm/collision/arm_link_hr0.stl
diff --git a/spot_description/meshes/arm/collision/arm_link_sh0.stl b/spot_description/meshes/arm/collision/arm_link_sh0.stl
diff --git a/spot_description/meshes/arm/collision/arm_link_sh1.stl b/spot_description/meshes/arm/collision/arm_link_sh1.stl
diff --git a/spot_description/meshes/arm/collision/arm_link_wr0.stl b/spot_description/meshes/arm/collision/arm_link_wr0.stl
diff --git a/spot_description/meshes/arm/collision/arm_link_wr1.stl b/spot_description/meshes/arm/collision/arm_link_wr1.stl
diff --git a/spot_description/meshes/arm/visual/arm_link_el0.obj b/spot_description/meshes/arm/visual/arm_link_el0.obj
diff --git a/spot_description/meshes/arm/visual/arm_link_el1.obj b/spot_description/meshes/arm/visual/arm_link_el1.obj
diff --git a/spot_description/meshes/arm/visual/arm_link_fngr.obj b/spot_description/meshes/arm/visual/arm_link_fngr.obj
diff --git a/spot_description/meshes/arm/visual/arm_link_hr0.obj b/spot_description/meshes/arm/visual/arm_link_hr0.obj
diff --git a/spot_description/meshes/arm/visual/arm_link_sh0.obj b/spot_description/meshes/arm/visual/arm_link_sh0.obj
diff --git a/spot_description/meshes/arm/visual/arm_link_sh1.obj b/spot_description/meshes/arm/visual/arm_link_sh1.obj
diff --git a/spot_description/meshes/arm/visual/arm_link_wr0.obj b/spot_description/meshes/arm/visual/arm_link_wr0.obj
diff --git a/spot_description/meshes/arm/visual/arm_link_wr1.obj b/spot_description/meshes/arm/visual/arm_link_wr1.obj
diff --git a/spot_description/meshes/arm/visual/spot.urdf b/spot_description/meshes/arm/visual/spot.urdf
diff --git a/spot_description/urdf/accessories.urdf.xacro b/spot_description/urdf/accessories.urdf.xacro
@@ -79,6 +79,7 @@
   </xacro:if>
 
   <xacro:if value="$(optenv SPOT_ARM 0)">
-    <xacro:include filename="$(find spot_description)/urdf/spot_arm.xacro" />
+    <xacro:include filename="$(find spot_description)/urdf/spot_arm_macro.urdf" />
+    <xacro:load_arm tf_prefix=""/>
   </xacro:if>
 </robot>
diff --git a/spot_description/urdf/spot_arm.xacro b/spot_description/urdf/spot_arm.xacro