Gazebo | Ignition | Community

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It seems the torque we give to the robot via the /gazebo/apply_joint_effort only causes an upward/downward acceleration of the whole robot body. Instead of giving it torques, we can give it force from gave it force though the wrench structure available in /gazebo/apply_body_wrench and set the torque fields to 0.

This would cause the robot to move in the x-y plane only.

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