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Set Angle having erratic effect on model.

I have a robot model and I am trying to generate trajectories for each joint of the model. I wan to initilize all the joints to 0. I am using the SetAngle to do this for me.

1)All the joints are initially at 0. but as simulation time goes on , the robot as a whole starts moving. Why do I see such a behavior ?

2)After a few seconds the robot completely looses stability and all the joints start to move(change from 0). What is the reason being this ? THough all that the controller does is keeps setting the angle for each joint to 0 every loop iteration.

3) I also tried to use the SetJointPosition command for each joint but that just crashes Gazebo.

Is there a solution or a way around this ? I have tried using the PID controller but the problem with it is I do not get good response and I do not reach my exact pointin the required time I want. I have about 10 DOF to control so setting all the right PID gains seem to be tough. Is there a way around this ?

Thanks

Set Angle SetAngle/SetPosition having erratic effect on Robot model.

I have a robot model and I am trying to generate trajectories for each joint of the model. I wan to initilize all the joints to 0. I am using the SetAngle SetAngle(I also tried set SetJointPosition) to do this for me.

1)All the joints are initially at 0. but as simulation time goes on , the robot as a whole starts moving. i.e it translates Why do I see such a behavior ?

2)After a few seconds the robot completely looses stability and all the joints start to move(change from 0). What is the reason being this ? THough all that the controller does is keeps setting the angle for each joint to 0 every loop iteration.

3) I also tried to use the SetJointPosition command for each joint but that just crashes Gazebo.

Is there a solution or a way around this ? I have tried using the PID controller but the problem with it is I do not get good response and I do not reach my exact pointin the required time I want. I have about 10 DOF to control so setting all the right PID gains seem to be tough. Is there a way around this ?

Thanks