Attach Gripper to Robot - modulabs/gazebo-tutorial GitHub Wiki

<?xml version="1.0"?>
<model>
  <name>Simple Mobile Manipulator</name>
  <version>1.0</version>
  <sdf version='1.5'>manipulator.sdf</sdf>

  <author>
    <name>My Name</name>
    <email>[email protected]</email>
  </author>

  <description>
    My simple mobile manipulator
  </description>
</model>

<?xml version="1.0" ?>
<sdf version="1.5">
    <model name="simple_mobile_manipulator">

        <include>
            <uri>model://my_gripper</uri>
            <pose>1.3 0 0.1 0 0 0</pose>
        </include>

        <include>
            <uri>model://simple_mobile_base_2</uri>
            <pose>0 0 0 0 0 0</pose>
        </include>

        <joint name="arm_gripper_joint" type="fixed">
            <parent>mobile_base_2::chassis</parent>
            <child>simple_gripper::riser</child>
        </joint>

        <!-- attach sensor to the gripper -->
        <include>
            <uri>model://hokuyo</uri>
            <pose>1.3 0 0.3 0 0 0</pose>
        </include>

        <joint name="hokuyo_joint" type="fixed">
            <child>hokuyo::link</child>
            <parent>simple_gripper::palm</parent>
        </joint>

    </model>
</sdf>