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How to make a robot immovable in Gazebo

asked 2012-06-29 05:17:08 -0500

Nan Jiang
131 ●3 ●5 ●11

Hi all,

I want to fix a robot (to be specific, pr2) to a specific location in gazebo. It is going to use its arm to touch and press some other objects in the environment, but its body should not be moved by the counter force. Resetting its location frequently may be a possible solution, but I am afraid that its arm and the objects in the environment may overlap in space and bounce away.

So I want to know if there is a way to disable movement of the robot in gazebo. Thanks.

Best, Nan

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answered 2012-07-12 14:56:04 -0500

dearl
96 ●1 ●2 ●3

updated 2012-07-12 15:00:16 -0500

If you don't want the robot to move at all, I believe that in your urdf adding the entry <link name="world"/> and create a fixed joint between world and your robot will do what you want.