How to lock rotation of the object?

asked 2016-02-23 04:19:54 -0500

Parilo gravatar image

I'm developing quadrotor drone in Gazebo and now I want to limit rotation of my virtual drone. So I want to limit it's movement so that it could move through line or in plane. In other words I want to limit object movement by 4DoF or 5DoF: lock pitch roll or yaw. Is it possible in urdf? Or maybe in some other ways?

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