Problems with robot modeling in model.sdf
Hello I am somewhat new to Gazebo
I have modelled a biped humanoid about 5+ feet tall in standard sdf format required for gazebo. The robot consists of simple boxes for links for collision/visual and I have assigned the joints so i can connect these links together.
There are no errors with the model nor the actual XML description. however, i have the following issues. There is no way to set the joints so they are stiff (especially at the hips and knees level). When i let the robot stand it collapses to the ground shortly after due to wobbling.
i have set "effort" "friction" "damping' values to keep the robot from collapsing but its been useless.
I have seen the DRC robot's model.sdf but there's is it does not help.
Is there a way to keep the robot from collapsing?
Any help is greatly appreciated. Thank you for your time