Revision history [back]

Hi Robert,

you can fix a model to the world by adding the following lines to your URDF file:

<link name="world" />
<joint name="world_joint"  type="fixed">
    <origin xyz="2 0 1.5" rpy="0 0 0" />
    <parent link="world"/>
    <child link="your_models_root_link"/>
</joint>

Note that the object is fixed to the world at the position you specify in the joint, not the parameters you give to spawn_model.