+<?xml version="1.0"?>
+<robot name="wild_thumper_with_manipulator" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:property name="PI" value="3.1415926535897931" />
+ <xacro:include filename="$(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
+ <xacro:include filename="$(find wt_open_manipulator)/urdf/open_manipulator.urdf.xacro"/>
+
+ <joint name="open_manipulator_joint" type="fixed">
+ <parent link="mounting_plate"/>
+ <child link="link1"/>
+ <origin xyz="-0.075 0.0 0.045" rpy="0 0 ${PI}"/>
+ </joint>
+</robot>