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Hi, thx for your answer, it's working perfectly. I'm now using the following parameters for my joints:

  • joints_damping = 4
  • joints_cfm_damping = 1
  • joints_implicit_spring_damping = 1

On the top of it, I use PIDs with I and D set to zeros, and P = 15 (which is a lot I guess). But this work fine, at least for what I want to get. I have a 6 DOF arm robot and avoid with this configuration the very complex parameterization of its PIDs. The moves are precise and stable.