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Hello Juan,

I've recently been working with a 3-finger gripper, and I've used the Smart Grasping simulation provided by Shadow Robot, which provides a 3-finger gripper mounted on an UR10 arm. The repo for this simulation is here: https://github.com/shadow-robot/smart_grasping_sandbox

I just wanted the 3-finger gripper in my simulation, so I did a couple of basic modifications to the URDF in order to have it. What I basically did was:

1) Remove from the model.urdf file all the stuff related to the UR arm.

2) Add some basic URDF code in order to have a platform where I place the gripper.

<link name="table">
  <visual>
    <geometry>
      <box size="0.6 0.6 0.05"/>
    </geometry>
  </visual>
  <collision>
    <geometry>
      <box size="0.6 0.6 0.05"/>
    </geometry>
  </collision>
</link>

<joint name="world_to_table" type="fixed">
  <parent link="world"/>
  <child link="table"/>
  <origin xyz="0.0 0.0 0.5" rpy="0.0 0.0 0.0"/>
</joint>

<joint name="table_to_hand" type="fixed">
  <parent link="table"/>
  <child link="H1_base_attach"/>
  <origin xyz="0.0 0.0 0.05" rpy="0.0 0.0 0.0"/>
</joint>

3) Remove from the launch file all the controllers related to the arm, and make sure that is taking my new URDF file, which contains only the hand data.

I have created this video showing the whole process, which really just takes like 5 minutes.

Hope this helps you!