If your model is in SDF format, then you can add a <pose> element under the <model> tag which will apply an offset to the robot origin.
For example to raise the robot by 1 meter:
<model name="nao">
<pose>0 0 1 0 0 0</pose>
<link ...
</model>
If I want to spawn a multi link robot with an offset on the z direction, do I have to specify the offset for each link or there's a more general command for this that moves the robot all at once?
Asked: 2013-12-17 21:41:36 -0500
Seen: 8,700 times
Last updated: Dec 18 '13
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How do you load the model? If from the world file, you can add there the spawning position, you can also add an offset in the robots .sdf file
I'm insert to Nao from Gazebo and I have problems when use .world file How can I add an offset in the robot .sdf file?
Is your model given in URDF or SDF format?
the model is SDF format