How to add prismatic joint to the end of Universal robot URDF file
Could you please tell me how can I add a prismatic joint to the end of an URDF file of an Universal robot as in the link below:
You don't.
You shouldn't be editing those files.
You need to create a new
.xacrofile, instantiate the robot macro and whatever geometry you're looking to add and then use appropriatejoints to combine everything.