Fixed joint moving when grasping
I have fixed joint in my arm joining the shoulder to world, but this joint moves around when I am trying to grasp an object. The entire urdf is here.
The important part is
<!-- Left arm -->
<link name="left_base"/>
<!-- First element of the arm fixed to the parent -->
<joint name="left_base_leftarm__base_joint" type="fixed">
<origin rpy="-1.570796327 -1.570796327 0" xyz="0.045 0.1665 1.526"/>
<parent link="left_base"/>
<child link="leftarm_shoulder_link"/>
</joint>
<link name="world"/>
<joint name="world_left" type="fixed">
<parent link="world"/>
<child link="left_base"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<joint name="world_right" type="fixed">
<parent link="world"/>
<child link="right_base"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<joint name="world_stand" type="fixed">
<parent link="world"/>
<child link="base_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>