How to attach sensor on robot's link after or_urdf

[xiaoyuch24]

Hi,

I successfully applied or_urdf to add fetch robot into the environment. Now, I would like to attach a sensor to the 'head_camera_link'.

Normally, we need create an env.xml file like:

<Environment> <Robot name = 'fetch'> <KinBody file = "robot.xml"> <AttachedSensor .....> </AttachedSensor> </KinBody> </Robot> </Environment>

However, by applying or_urdf in the script, we don't have robot.xml file and the robot has been added to the environment. Is there any way to dynamically attach the camera on the robot in python?

Thank you very much!