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I am trying to spawn a URDF model in Gazebo without loading a controller for the robot. I have found that the joints are very 'floppy' when no controller is loaded. Is there a command in the launch file or urdf which will increase the joint stiffness if no controller is running?
-Kyle
You could try setting the joint friction and/or damping to a very high value.
<joint name="joint_name" type="continuous">
...
<joint_properties damping="1000.0" friction="1000.0"/>
</joint>
This post is quite old, but if possible plz reply. What if I have objects like cupboard and there doors are opening and closing w/o any apparent reason. I want ROBOT to close and open them. in that case I guess I'll not write a controller for cupboard. How to make the doors remain in one position?
If you want the joints to remain static you can also set turnGravityOff to true for each link
<link name="my_link"/>
...
<gazebo reference="my_link">
<material>Gazebo/Blue</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
Hope that helps
Asked: 2012-02-09 08:38:30 -0500
Seen: 2,125 times
Last updated: Aug 14 '19
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