Make object static for grasping

edit

I know that this is a bit old, but I'll try to answer the question.

I was able to achieve the similar effect by disabling the gravity effect in a .sdf file of an object that I spawn.

<?xml version='1.0'?>
  <sdf version='1.7'>
    <model name='obj_05'>
      <link name='object'>
        <gravity>0</gravity>
      </link>
    </model>
  </sdf>

Whoever needs to do the similar thing can refer my repository: https://github.com/kidpaul94/grasp-fa...