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<link name="world"> 
</link> 
<link name="base_footprint"> 
    <visual> 
        <origin xyz="0 0 0.046"/> 
        <geometry> 
            <box size="0.235 0.094 0.049"/> 
        </geometry> 
        <material name="gray"> 
            <color rgba=".2 .2 .2 1"/> 
        </material> 
    </visual> 
    <inertial> 
        <origin xyz="0 0 0.046"/> 
        <mass value="0.6174"/> 
        <inertia ixx="2.84523645e-3" ixy="0.0" ixz="0" iyy="3.1763172e-3" iyz="0" izz="5.7814365e-4"/>
    </inertial> 
    <collision> 
        <origin xyz="0 0 0.046"/> 
        <geometry> 
            <box size="0.235 0.094 0.049"/> 
        </geometry> 
    </collision> 
</link> 
<joint name="dummy_joint" type="fixed"> 
    <parent link="world"/>
    <child link="base_footprint"/>
</joint>

I'm pretty sure you basically glued your robot to the floor by creating a fixed joint between world and base_footprint (dummy_joint)

<link name="world"> 
 </link> 
 <link name="base_footprint"> 
     <visual> 
         <origin xyz="0 0 0.046"/> 
         <geometry> 
             <box size="0.235 0.094 0.049"/> 
         </geometry> 
         <material name="gray"> 
             <color rgba=".2 .2 .2 1"/> 
         </material> 
     </visual> 
     <inertial> 
         <origin xyz="0 0 0.046"/> 
         <mass value="0.6174"/> 
         <inertia ixx="2.84523645e-3" ixy="0.0" ixz="0" iyy="3.1763172e-3" iyz="0" izz="5.7814365e-4"/>
     </inertial> 
     <collision> 
         <origin xyz="0 0 0.046"/> 
         <geometry> 
             <box size="0.235 0.094 0.049"/> 
         </geometry> 
     </collision> 
 </link> 
 <joint name="dummy_joint" type="fixed"> 
     <parent link="world"/>
     <child link="base_footprint"/>
</joint>

I'm pretty sure you basically glued your robot to the floor by creating a fixed joint between world and base_footprint (dummy_joint)

<link name="world"> </link> <link name="base_footprint"> <visual> <origin xyz="0 0 0.046"/> <geometry> <box size="0.235 0.094 0.049"/> </geometry> <material name="gray"> <color rgba=".2 .2 .2 1"/> </material> </visual> <inertial> <origin xyz="0 0 0.046"/> <mass value="0.6174"/> <inertia ixx="2.84523645e-3" ixy="0.0" ixz="0" iyy="3.1763172e-3" iyz="0" izz="5.7814365e-4"/> </inertial> <collision> <origin xyz="0 0 0.046"/> <geometry> <box size="0.235 0.094 0.049"/> </geometry> </collision> </link> <joint name="dummy_joint" type="fixed"> <parent link="world"/> <child link="base_footprint"/> </joint>

I'm pretty sure you basically glued your robot to the floor by creating a fixed joint between world and base_footprint (dummy_joint)

ETA: URDF is a robot description format, there is never a reason to add links/joints that aren't relevant to the robot. In this case, the link world has nothing to do with the robot and should not be included.

<link name="world"> </link> <link name="base_footprint"> <visual> <origin xyz="0 0 0.046"/> <geometry> <box size="0.235 0.094 0.049"/> </geometry> <material name="gray"> <color rgba=".2 .2 .2 1"/> </material> </visual> <inertial> <origin xyz="0 0 0.046"/> <mass value="0.6174"/> <inertia ixx="2.84523645e-3" ixy="0.0" ixz="0" iyy="3.1763172e-3" iyz="0" izz="5.7814365e-4"/> </inertial> <collision> <origin xyz="0 0 0.046"/> <geometry> <box size="0.235 0.094 0.049"/> </geometry> </collision> </link> <joint name="dummy_joint" type="fixed"> <parent link="world"/> <child link="base_footprint"/> </joint>

I'm pretty sure you basically glued your robot to the floor by creating a fixed joint between world and base_footprint (dummy_joint)

ETA: URDF is a robot description format, there is never a reason to add links/joints that aren't relevant to the robot. In this case, the link world has nothing to do with the robot and should not be included.

<link name="world"> </link> <link name="base_footprint"> <visual> <origin xyz="0 0 0.046"/> <geometry> <box size="0.235 0.094 0.049"/> </geometry> <material name="gray"> <color rgba=".2 .2 .2 1"/> </material> </visual> <inertial> <origin xyz="0 0 0.046"/> <mass value="0.6174"/> <inertia ixx="2.84523645e-3" ixy="0.0" ixz="0" iyy="3.1763172e-3" iyz="0" izz="5.7814365e-4"/> </inertial> <collision> <origin xyz="0 0 0.046"/> <geometry> <box size="0.235 0.094 0.049"/> </geometry> </collision> </link> <joint name="dummy_joint" type="fixed"> <parent link="world"/> <child link="base_footprint"/> </joint>

I'm pretty sure you basically glued your robot to the floor by creating a fixed joint between world and base_footprint (dummy_joint)

ETA: URDF is a robot description format, there is never a reason to add links/joints that aren't relevant to the robot. In this case, the link world has nothing to do with the robot and should not be included.

<link name="world"> </link> <link name="base_footprint"> <visual> <origin xyz="0 0 0.046"/> <geometry> <box size="0.235 0.094 0.049"/> </geometry> <material name="gray"> <color rgba=".2 .2 .2 1"/> </material> </visual> <inertial> <origin xyz="0 0 0.046"/> <mass value="0.6174"/> <inertia ixx="2.84523645e-3" ixy="0.0" ixz="0" iyy="3.1763172e-3" iyz="0" izz="5.7814365e-4"/> </inertial> <collision> <origin xyz="0 0 0.046"/> <geometry> <box size="0.235 0.094 0.049"/> </geometry> </collision> </link> <joint name="dummy_joint" type="fixed"> <parent link="world"/> <child link="base_footprint"/> </joint>

I'm pretty sure you basically glued your robot to the floor by creating a fixed joint between world and base_footprint (dummy_joint)

ETA: URDF is a robot description format, there is never a reason to add links/joints that aren't relevant to the robot. In this case, the link world has nothing to do with the robot and should not be included.

<link name="world"> </link> <link name="base_footprint"> <visual> <origin xyz="0 0 0.046"/> <geometry> <box size="0.235 0.094 0.049"/> </geometry> <material name="gray"> <color rgba=".2 .2 .2 1"/> </material> </visual> <inertial> <origin xyz="0 0 0.046"/> <mass value="0.6174"/> <inertia ixx="2.84523645e-3" ixy="0.0" ixz="0" iyy="3.1763172e-3" iyz="0" izz="5.7814365e-4"/> </inertial> <collision> <origin xyz="0 0 0.046"/> <geometry> <box size="0.235 0.094 0.049"/> </geometry> </collision> </link> <joint name="dummy_joint" type="fixed"> <parent link="world"/> <child link="base_footprint"/> </joint>

I'm pretty sure you basically glued your robot to the floor by creating a fixed joint between world and base_footprint (dummy_joint)

ETA: URDF is a robot description format, there is never a reason to add links/joints that aren't relevant to the robot. In this case, the link world has nothing to do with the robot and should not be included.

<link name="base_footprint"> <visual> <origin xyz="0 0 0.046"/> <geometry> <box size="0.235 0.094 0.049"/> </geometry> <material name="gray"> <color rgba=".2 .2 .2 1"/> </material> </visual> <inertial> <origin xyz="0 0 0.046"/> <mass value="0.6174"/> <inertia ixx="2.84523645e-3" ixy="0.0" ixz="0" iyy="3.1763172e-3" iyz="0" izz="5.7814365e-4"/> </inertial> <collision> <origin xyz="0 0 0.046"/> <geometry> <box size="0.235 0.094 0.049"/> </geometry> </collision> </link> <joint name="dummy_joint" type="fixed"> <parent link="world"/> <child link="base_footprint"/> </joint>

I'm pretty sure you basically glued your robot to the floor by creating a fixed joint between world and base_footprint (dummy_joint)

ETA: URDF is a robot description format, there is never a reason to add links/joints that aren't relevant to the robot. In this case, the link world has nothing to do with the robot and should not be included.

<link name="base_footprint"> <visual> <origin xyz="0 0 0.046"/> <geometry> <box size="0.235 0.094 0.049"/> </geometry> <material name="gray"> <color rgba=".2 .2 .2 1"/> </material> </visual> <inertial> <origin xyz="0 0 0.046"/> <mass value="0.6174"/> <inertia ixx="2.84523645e-3" ixy="0.0" ixz="0" iyy="3.1763172e-3" iyz="0" izz="5.7814365e-4"/> </inertial> <collision> <origin xyz="0 0 0.046"/> <geometry> <box size="0.235 0.094 0.049"/> </geometry> </collision> </link> <joint name="dummy_joint" type="fixed"> <parent link="world"/> <child link="base_footprint"/> </joint>

I'm pretty sure you basically glued your robot to the floor by creating a fixed joint between world and base_footprint (dummy_joint)

ETA: URDF is a robot description format, there is never a reason to add links/joints that aren't relevant to the robot. In this case, the link world has nothing to do with the robot and should not be included.

I'm pretty sure you basically glued your robot to the floor by creating a fixed joint between world and base_footprint (dummy_joint)

<visual> 
    <origin xyz="0 0 0.046"/> 
    <geometry> 
        <box size="0.235 0.094 0.049"/> 
    </geometry> 
    <material name="gray"> 
        <color rgba=".2 .2 .2 1"/> 
    </material> 
</visual> 
<inertial> 
    <origin xyz="0 0 0.046"/> 
    <mass value="0.6174"/> 
    <inertia ixx="2.84523645e-3" ixy="0.0" ixz="0" iyy="3.1763172e-3" iyz="0" izz="5.7814365e-4"/>
</inertial> 
<collision> 
    <origin xyz="0 0 0.046"/> 
    <geometry> 
        <box size="0.235 0.094 0.049"/> 
    </geometry> 
</collision> 
</link> 
<joint name="dummy_joint" type="fixed"> 
    <parent link="world"/>
    <child link="base_footprint"/>
</joint>

ETA: URDF is a robot description format, there is never a reason to add links/joints that aren't relevant to the robot. In this case, the link world has nothing to do with the robot and should not be included.