Hi there,

damping has no effect to avoid bouncing and flying of robots.I want to do like this but It doesn't work for me!

here is my SDF file. with a force of 0.051Nm and what ever damping value I set, alwayes the same behaviour.

<?xml version='1.0' ?>
<sdf version='1.4'>
<world name="default">
 <include>
   <uri>model://ground_plane</uri>
 </include>
<include>
   <uri>model://sun</uri>
 </include>
 <model name='0'>
<link name='1'>
    <pose>0.00503991 0.00855352 0.0245165 0 4.71239 0</pose>
    <inertial>
        <mass>0.05</mass>
        <inertia><ixx>0.000003333</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.000004271</iyy>
            <iyz>0</iyz><izz>0.000004271</izz>
        </inertia>
    </inertial>
    <collision name='collision'>
        <geometry>
            <box>
                <size>0.0125 0.01 0.01</size>
            </box>
        </geometry>
    </collision>
    <visual name='visual'>
        <geometry>
            <box>
                <size>0.0125 0.01 0.01</size>
            </box>
        </geometry>
    </visual>
</link>

<link name='2'>
    <pose>0.00503991 0.00855352 0.0370165 0 4.71239 0</pose>
    <inertial>
        <mass>0.05</mass>
        <inertia><ixx>0.000003333</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.000004271</iyy>
            <iyz>0</iyz><izz>0.000004271</izz>
        </inertia>
    </inertial>
    <collision name='collision'>
        <geometry>
            <box>
                <size>0.0125 0.01 0.01</size>
            </box>
        </geometry>
    </collision>
    <visual name='visual'>
    <geometry>
        <box>
            <size>0.0125 0.01 0.01</size>
        </box>
        </geometry>
    </visual>
</link>

<joint type="revolute" name="0_1">
    <pose>-0.00625 0 0 0 0 0</pose>
    <child>1</child>
    <parent>2</parent>
    <axis>
        <xyz>0 0 1</xyz>
        <limit>
            <lower>0.5</lower>
            <upper>-0.5</upper>
        </limit>
        <dynamics>
            <friction>0.05</friction>
            <damping>1000000000000000000000000000000000000000000000000000</damping>
        </dynamics>
    </axis>
    <physics>
        <ode>
            <implicit_spring_damper>1</implicit_spring_damper>
        </ode>
    </physics>
</joint>
<plugin name="controller" filename="build/libcontroller.so"/>
</model>
</world>
</sdf>

I have Gazebo version 6.1.0