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
Originally posted by kmaroney on ROS Answers with karma: 204 on 2012-02-09
Post score: 1
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>
Originally posted by DimitriProsser with karma: 11163 on 2012-02-10
This answer was ACCEPTED on the original site
Post score: 0
Comment by kmaroney on 2012-02-10:
Yep, not a bad idea for a completely static robot model. However I do plan on writing controllers and using the robot in sim. Just wanted to see if there was a quick fix, much like launching joints at explicit angles with -J joint_name 0.4 etc.
Comment by DimitriProsser on 2012-02-10:
If no controllers are running, why can't the joints just be fixed?
Comment by kmaroney on 2012-02-10:
I did have this previously with damping at 100 and friction at 1000, and after playing with the values from 0 up to 10^5 it still seems that there was no difference. These properties seem to come into play with the transmission and controllers running. Hmmm..
Comment by aknirala on 2012-09-08:
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?