From c8c75221c5e35dd8ee12a4066b168846ea924721 Mon Sep 17 00:00:00 2001
From: Nikhilesh Alatur <nikhilesh.alatur@gmail.com>
Date: Wed, 29 Nov 2023 18:14:24 +0100
Subject: [PATCH 1/2] Add flag to disable bota offset in sim.

---
 moma_gazebo/launch/panda_moma_corner.launch                | 2 ++
 moveit_configs/panda_moveit_config/launch/gazebo.launch    | 2 ++
 .../panda_moveit_config/launch/robot_description.launch    | 7 ++++---
 3 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/moma_gazebo/launch/panda_moma_corner.launch b/moma_gazebo/launch/panda_moma_corner.launch
index b2c87425..8dbf95fb 100644
--- a/moma_gazebo/launch/panda_moma_corner.launch
+++ b/moma_gazebo/launch/panda_moma_corner.launch
@@ -2,6 +2,7 @@
   <arg name="gui" default="true" />
   <arg name="moveit" default="true" />
   <arg name="rviz" default="true" />
+  <arg name="use_bota" default="false" />
   <!-- This is the controller that moveit uses: -->
   <arg name="controller" default="effort_joint_trajectory_controller" />
   <arg name="world_name" default="$(find moma_gazebo)/worlds/moma_corner.world"/>
@@ -12,6 +13,7 @@
     <arg name="use_gripper" default="true" />
     <arg name="world" default="$(arg world_name)" />
     <arg name="controller" default="$(arg controller)" />
+    <arg name="use_bota" default="$(arg use_bota)" />
   </include>
 
   <!-- Launch moveit as well. -->
diff --git a/moveit_configs/panda_moveit_config/launch/gazebo.launch b/moveit_configs/panda_moveit_config/launch/gazebo.launch
index 17880242..353bd123 100644
--- a/moveit_configs/panda_moveit_config/launch/gazebo.launch
+++ b/moveit_configs/panda_moveit_config/launch/gazebo.launch
@@ -7,6 +7,7 @@
   <arg name="paused"      default="false" doc="Should the simulation directly be stopped at 0s?" />
   <arg name="world"       default="$(find moma_gazebo)/worlds/test.world" doc="Filename to a SDF World for gazebo to use" />
   <arg name="rviz"        default="false" doc="Should RVIz be launched?" />
+  <arg name="use_bota"    default="false" doc="Should the bota be used?" />
 
   <!-- Robot Customization -->
   <arg name="arm_id"      default="panda" doc="Name of the panda robot to spawn" />
@@ -41,6 +42,7 @@
     <arg name="load_gripper" value="$(arg use_gripper)" />
     <arg name="arm_id" value="$(arg arm_id)" />
     <arg name="gazebo" value="$(arg gazebo)" />
+    <arg name="use_bota" value="$(arg use_bota)" />
     <arg name="xacro_args" value="$(arg xacro_args)" />
   </include>
 
diff --git a/moveit_configs/panda_moveit_config/launch/robot_description.launch b/moveit_configs/panda_moveit_config/launch/robot_description.launch
index d392bc87..9151724f 100644
--- a/moveit_configs/panda_moveit_config/launch/robot_description.launch
+++ b/moveit_configs/panda_moveit_config/launch/robot_description.launch
@@ -3,13 +3,14 @@
   <arg name="load_gripper" default="true" />
   <arg name="arm_id" default="panda" />
   <arg name="xacro_args" default="" />
-  <arg name="gazebo" default="false" />>
+  <arg name="gazebo" default="false" />
+  <arg name="use_bota" default="false" />
 
   <!-- The name of the parameter under which the URDF is loaded -->
   <arg name="robot_description" default="robot_description" />
 
   <!-- Load universal robot description format (URDF) -->
   <param name="$(arg robot_description)"
-    command="xacro '$(find moma_description)/urdf/panda.urdf.xacro' hand:=$(arg load_gripper) arm_id:=$(arg arm_id) gazebo:=$(arg gazebo) $(arg xacro_args)" />
+    command="xacro '$(find moma_description)/urdf/panda.urdf.xacro' hand:=$(arg load_gripper) arm_id:=$(arg arm_id) gazebo:=$(arg gazebo) $(arg xacro_args) use_bota:=$(arg use_bota)" />
 
-</launch>
\ No newline at end of file
+</launch></launch>
\ No newline at end of file

From 582514f097274edb07619fb4ad9a6ff7c528b946 Mon Sep 17 00:00:00 2001
From: Casimir-Feldmann <cfeldmann@student.ethz.ch>
Date: Wed, 29 Nov 2023 19:41:16 +0100
Subject: [PATCH 2/2] fixed syntax error

---
 .../panda_moveit_config/launch/robot_description.launch         | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_configs/panda_moveit_config/launch/robot_description.launch b/moveit_configs/panda_moveit_config/launch/robot_description.launch
index 9151724f..82c0d1ad 100644
--- a/moveit_configs/panda_moveit_config/launch/robot_description.launch
+++ b/moveit_configs/panda_moveit_config/launch/robot_description.launch
@@ -13,4 +13,4 @@
   <param name="$(arg robot_description)"
     command="xacro '$(find moma_description)/urdf/panda.urdf.xacro' hand:=$(arg load_gripper) arm_id:=$(arg arm_id) gazebo:=$(arg gazebo) $(arg xacro_args) use_bota:=$(arg use_bota)" />
 
-</launch></launch>
\ No newline at end of file
+</launch>
\ No newline at end of file