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Rigidly fixing a model to the world

asked 2019-11-05 12:05:50 -0600

mogumbo gravatar image

There are clear instructions here for rigidly fixing a model to the world: http://gazebosim.org/tutorials/?tut=r... Indeed, this works when you use a link called "world". It does not work if you use another name. Is there specific hardcoded behavior for "world" for some reason?

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answered 2019-11-05 12:09:45 -0600

chapulina gravatar image

updated 2019-11-05 15:12:27 -0600

Yes, the keyword world is used to fix a joint to the world. If you name a model / link world, that should cause problems.

This tutorial mentions the special treatment for the world keyword. The reason why that word is reserved is that we need some way to identify a fixed inertial frame.

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Thanks. Do you know of any documentation that explicitly states this name is reserved and explains the reasons why?

mogumbo gravatar imagemogumbo ( 2019-11-05 14:10:49 -0600 )edit

I added a bit more context to the answer. I hope that answers your question?

chapulina gravatar imagechapulina ( 2019-11-05 15:12:49 -0600 )edit

That's much more clear. Thank you.

mogumbo gravatar imagemogumbo ( 2019-11-05 15:43:34 -0600 )edit
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Asked: 2019-11-05 12:05:50 -0600

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Last updated: Nov 05