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So I set up a simulation of a robotic arm in Webots. However, the collisions between the base_link and the ground_plane seems to cause Errors when the mesh of the base_link becomes more complicated than a simple shape.

At the moment I have solved it by simplifying the geometry of the base_link, but I was wondering if there was a more elegant solution. I know some other simulators have a form of fix_model or fix_base_link option to avoid having to calculate collision with the ground_plane for static objects. Does Webots have something similair?

Thanks in advance!!

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Yes, usually for robotics arms, the base link is attached to the static environment as described in the first point of this answer.

Disclaimer: I am a Webots developer working at Cyberbotics.

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