<?xml version="1.0"?>
<sdf version="1.9">
  <model name="arm_with_gripper">

    <include merge="true">
      <pose>0 2 0 0 0 0</pose>
      <uri>package://interface_api_test/arm.urdf</uri>
    </include>

    <include merge="true">
      <pose>0 2 0 0 0 0</pose>
      <uri>package://interface_api_test/gripper.sdf</uri>
    </include>

    <joint name="gripper_joint" type="fixed">
      <parent>L2</parent>
      <child>gripper_link</child>
    </joint>

  </model>
</sdf>

