Generating Multibody URDF files

[lauweiquan]

I am trying to upload a urdf of a robotic arm.

Using the function below:
obj = kb.FileBasedObject(
asset_id="woodenhammer",
render_filename="pybullet_data/wooden_hammer/wooden_hammer_01_4k.obj",
bounds=bounds,
simulation_filename="pybullet_data/wooden_hammer/wooden_hammer_01_4k.urdf",
scale=6, velocity=velocity, position=position
)

I am able to generate only one object from the urdf. Is there any way to generate the whole robotic arm?
Thank you in advance!