Hi,
I've solved the problem of [removing the gravity from the gripper model](http://answers.gazebosim.org/question/18087/problem-with-making-a-floating-gripper-in-gazebo/), but now I have another problem. When I try to move the grippers claws, whole body starts to move, even if it's not specified at the joint. How can I modify the base link, so it stays rigid while the claws open and close, and also, I need the possibility to move it up and down (and possibly, rotate it)? The models code is in the link above. Here is the behavior that I want to get rid of:
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