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Blocking wheels of PR2

Hi,

I am making a manipulation experiment with the PR2, and after several hundred iterations moving the arms it shifts a little bit its pose, and it gets far from the table in from of it.

I guess I can increase the friction value to the wheels in the pr2.urdf description, but I am wondering if there is some way of blocking the wheels writing some code.

Thanks

Blocking wheels of PR2

Hi,

I am making a manipulation experiment with the PR2, and after several hundred iterations moving the arms it shifts a little bit its pose, and it gets far from the table in from of it.

I guess I can increase the friction value to the wheels in the pr2.urdf description, but I am wondering if there is some way of blocking the wheels writing some code.

Thanks