Joints won't hold in place

asked 2015-03-23 12:00:16 -0500

adam896 gravatar image

Not really sure what i should be doing with my model, i have a prismatic joint which slides downwards due to gravity. What I want is for somehow the joint to not slide down to its lower bound before I can attach my controllers which will determine its positional value. I tried giving the joint friction using dynamics tags in the joint properties in the URDF.

Any ideas how to fix this problem

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What I ended up having to do to get around this was to launch my controllers simultaneously and have their signals hold the joints where i wanted them to, still not convinces this is a perfect solution as I believe I require some sort of friction value in the joint itself which would hold it in place without the need for controllers.

adam896 gravatar imageadam896 ( 2015-03-24 10:18:04 -0500 )edit