Combining UR10 and Smart Transport Robot (STR) to get a mobile manipulator

I am wondering if there is any way to attach the UR10 on a mobile platform, e.g., STR, to obtain a mobile manipulator. I saw similar robot in a published demo video but cannot find the corresponding demos in the code.

Can anyone provide some insights on how to achieve this?

Thank you so much!

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One way to do this is to create a fixed joint between the base of the arm and the chassis link of the mobile base.

Select the fixed joint and set the “Exclude From Articulation” setting to true.

This is basically a way to join two articulations together without having to combine all of the links into a single articulation

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