Hello, I'm working on hexapod model that I want to simulate with ros later. I just can't figure out how to set parameters in sdf so that I can reach desired behaviour. When I spawn the model the hexapod falls down which I don't want to. If I decrease the gravity or mass it starts to float around. I also tried to increasre/decrease dumping, effort etc. but still couldn't make it. When I'm simulating the real model it fixes all joints except the one that I want to move. That is the behaviour that I want to achieve. Thanks for advice!

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