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I figured out what I was doing wrong here. When I tried to specify a link to the world, I didn't specify the model name.

A link like the following will prevent the link named base of a model named arm from moving relative to the world:

<link name="world_fix">
    <parent>world</parent>
    <child>arm::base</child>
</link>

Placing this in the root of your <model> will then prevent the base from moving.