Spot URDF Files

name	purpose
spot.urdf.xacro	standard URDF for spot without arm
spot_arm.urdf	standard URDF for spot arm
spot_with_arm.urdf.xacro	composed of spot.urdf.xacro and spot_arm.urdf
spot_simple.urdf.xacro	same purpose as spot.urdf.xacro except details are simplified; suitable for simulation
standalone_arm.urdf.xacro	Adds a root link to spot_arm.urdf, making it a valid standalone model
accessories.urdf.xacro
empty.urdf