For simplification problems we haven’t included the tools in the arm URDF. The TCP (Tool Center Point) is the same – end of the arm – whether you add a tool or not. (for more info on why we did that, check out this issue on GitHub).
Now, to control the tool, you can either:
– Use Dynamixel XL-320 motor on your tool and configure it with this guide.
– Or power your tool with a GPIO (5V) or SW (12V) at the back of the robot. You’ll then have to actuate the IOs of the robot to make the tool work (very similar to what’s happening with real industrial robots)