Please tell me how to set the output of Joint torque when using URDF with gazebo.
I would like to use a humanoid robot model with a total mass of about 80 kg by URDF in Gazebo, but the joint torque is insufficient and the joint bends and collapses. I want to use "effort_controllers/JointPositionController" of ros_controller. If the mass is suppressed to about 0.08 kg, it will stand up, but the simulation is meaningless. How should I set it? ??
Write the joint settings and transmission settings below.
<joint name="rev5" type="revolute"> <origin rpy="0 0 0" xyz="0.05 0.07 0.0"/> <parent link="Link2_1_1"/> <child link="Link2_2_1"/> <axis xyz="-1.0 -0.0 -0.0"/> <limit lower="-1.6" upper="1.6" effort="100000" velocity="0.02"/> </joint>
<transmission name="rev1_tran"> <type>transmission_interface/SimpleTransmission</type> <joint name="rev1"> <hardwareinterface>hardware_interface/EffortJointInterface</hardwareinterface> </joint> <actuator name="rev1_actr"> <hardwareinterface>hardware_interface/EffortJointInterface</hardwareinterface> <mechanicalreduction>1</mechanicalreduction> </actuator> </transmission>
Thank you!!