Help regarding combining existing urdfs with a soft manipulator stored as a SMContinuumManipulator

[silverfuryK]

Hey!

I was wondering if there is a way of combining a pre existing urdf file of a mobile robot with a continuum manipulator i created with the .yaml description. I looked at the create_cmassembly_urdf file but noticed it took SMLinkDefinitions as the base links to join.

any hints/help would be appreciated!

[SantiDiazC]

Hi!
Pretty nice work! I am currently trying to simulate a pneumatic soft gripper attached to a Robot Arm (UR5) for my research, so I have the same question as @silverfuryK, is there any Update on this topic in the documentation?

Thank you in advance!