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SDF: How to fix a model to the world?


So I've set up an arm model in an SDF file and have input correct values for mass, CoM, and inertia tensor, but am having trouble figuring out how to fix the arm to the world. I have tried giving the base of the arm an arbitrarily high mass, but this does not seem to work well. I figure that there must be a method to hold the base of the arm static relative to the default ground_plane in the gazebo world but can't seem to figure it out. All solutions seem to be using URDF, which I am not.