Is there a way to combine two different models from two different URDFs together?

[Zionshang]

For example, I have two URDFs. One is quadruped_robot.urdf, another is manipulator.urdf.
I use pinocchio::urdf::buildModel() to generate two different models.
Is there a way to combine these two models together? The result is a single model.

I notice there is pinocchio::buildReducedRobot. Whether there is a method to do the opposite thing?

[fabinsch]

Hi @Zionshang,

the method that you are searching for is called appendModel, see the docs here.

[Zionshang]

THANKS A LOT!!!!!