Fixing body frame in Isaac Sim

Is there a simple way to fix the base of a robot to a fixed position in world frame? I would like to fix the Unitree A1 in the air and still be able to send action commands to the legs, similar to the debug mode available in ROS. Thanks in advance.

Hi @fatih.oezgan

Just select the base link and create a fixed joint (Create > Physics > Joint > Fixed Joint menu).

1 Like

thanks a lot!

If anyone is interested in how to achieve the same behavior without the simulator, it is possible using the RobotAssembler:

from omni.isaac.robot_assembler import RobotAssembler

robot_assembler = RobotAssembler()
            target1 ="/SomeRobot/base"

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