The physics mode of URDF bodies is determined as follows:
If the link has non-zero mass, it will be dynamic
If it has zero mass, but some collision shapes, it will be kinematic
A body with zero mass and no collision shapes is not simulated
A dynamic body whose parent joint is fixed will become a fixed body
Additionally, you can now use the rigid_body_joints tag on the URDF tag in the graph xml. This allows to use mobile robots, whose root is usually the mobile base link.
mgienger
commented
6 years ago
The physics mode of URDF bodies is determined as follows:
Additionally, you can now use the rigid_body_joints tag on the URDF tag in the graph xml. This allows to use mobile robots, whose root is usually the mobile base link.