From a543dde82f1b963e8197946e1d2598de9dc4aadd Mon Sep 17 00:00:00 2001
From: ZFEI <zfei@zju.edu.cn>
Date: Wed, 24 Jul 2024 18:54:22 +0800
Subject: [PATCH] add HitbotGripper in launch

---
 unitree_gazebo/launch/z1.launch | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/unitree_gazebo/launch/z1.launch b/unitree_gazebo/launch/z1.launch
index e42a29e..3532316 100755
--- a/unitree_gazebo/launch/z1.launch
+++ b/unitree_gazebo/launch/z1.launch
@@ -13,6 +13,7 @@
     <arg name="user_debug" default="false"/>
     <arg name="UnitreeGripperYN" default="true"/>
     <arg name="RealSense" default="true"/>
+    <arg name="HitbotGripper" default="true"/>
 
     <include file="$(find gazebo_ros)/launch/empty_world.launch">
         <arg name="world_name" value="$(find unitree_gazebo)/worlds/$(arg wname).world"/>
@@ -26,7 +27,7 @@
     <!-- Load the URDF into the ROS Parameter Server -->
     <param name="robot_description"
            command="$(find xacro)/xacro --inorder '$(arg dollar)$(arg robot_path)/xacro/robot.xacro' 
-           UnitreeGripper:=$(arg UnitreeGripperYN) RealSense:=$(arg RealSense)"/>
+           UnitreeGripper:=$(arg UnitreeGripperYN) RealSense:=$(arg RealSense) HitbotGripper:=$(arg HitbotGripper)"/>
 
     <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
     <!-- Set trunk and joint positions at startup -->