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If you are using effort control, you can try adding some joint friction to the screw joint (<dynamics damping="100.0" friction="200.0" />), which may help with holding the weight.

If you are using effort control, you can try adding some joint friction to the screw joint (<dynamics damping="100.0" friction="200.0" />), which may help with holding the weight.

EDIT:

I don't think joint friction is working right now for screw joints. You could dynamically set the joint limits to act as a brake, but that would circumvent effort limits. I'm still thinking about it...

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